40 lines
822 B
Python
Executable File
40 lines
822 B
Python
Executable File
import board
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import pwmio
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motor_A1 = pwmio.PWMOut(board.GP17)
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motor_A2 = pwmio.PWMOut(board.GP16)
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motor_B1 = pwmio.PWMOut(board.GP18)
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motor_B2 = pwmio.PWMOut(board.GP19)
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right_motor = motor_A1, motor_A2
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left_motor = motor_B1, motor_B2
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max_speed = 2 ** 16 - 1
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def stop():
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motor_A1.duty_cycle = 0
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motor_A2.duty_cycle = 0
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motor_B1.duty_cycle = 0
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motor_B2.duty_cycle = 0
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def set_speed(motor, speed):
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# Swap motor pins if we reverse the speed
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if speed < 0:
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direction = motor[1], motor[0]
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speed = -speed
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else:
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direction = motor
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speed = min(speed, 1) # limit to 1.0
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direction[0].duty_cycle = int(max_speed * speed)
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direction[1].duty_cycle = 0
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def set_left(speed):
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set_speed(left_motor, speed)
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def set_right(speed):
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set_speed(right_motor, speed)
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