Chapter 5 examples

2021-12-07 21:34:30 +00:00
parent 4cdabd2403
commit 1f9e6b8f91
20 changed files with 311 additions and 0 deletions
@@ -0,0 +1,35 @@
+import board
+import pwmio
+
+motor_A1 = pwmio.PWMOut(board.GP17)
+motor_A2 = pwmio.PWMOut(board.GP16)
+motor_B1 = pwmio.PWMOut(board.GP18)
+motor_B2 = pwmio.PWMOut(board.GP19)
+
+def stop():
+    motor_A1.duty_cycle = 0
+    motor_A2.duty_cycle = 0
+    motor_B1.duty_cycle = 0
+    motor_B2.duty_cycle = 0
+
+max_speed = 2**16-1
+right_motor = motor_A1, motor_A2
+left_motor = motor_B1, motor_B2
+
+def set_speed(motor, speed):
+    # Swap motor pins if we reverse the speed
+    if speed < 0:
+        direction = motor[1], motor[0]
+        speed = -speed
+    else:
+        direction = motor
+    speed = min(speed, 1) # limit to 1.0
+
+    direction[0].duty_cycle = int(max_speed * speed)
+    direction[1].duty_cycle = 0
+
+def set_left(speed):
+    set_speed(left_motor, speed)
+
+def set_right(speed):
+    set_speed(right_motor, speed)