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run_motors.py
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run_motors.py
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"""
run_motors.py
This micro:bit MicroPython script uses k_motor.py to run 2 motors connected to
the kitronik motor driver board.
https://www.kitronik.co.uk/5620-motor-driver-board-for-the-bbc-microbit-v2.html
The MIT License (MIT)
Copyright (c) 2018 Alan Yorinks
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
"""
# start of k_motor.py
from microbit import pin0, pin8, pin12, pin16, display, Image
class KMotor:
"""
This class is used to control 2 motors with the Kitronic
Motor Driver Board
"""
# Motor Directions
FORWARD = 0
REVERSE = 1
# Motor Selectors
MOTOR_1 = 0
MOTOR_2 = 1
def __init__(self):
"""
Turn of both motors and clear the display
"""
self.motor_off(KMotor.MOTOR_1)
self.motor_off(KMotor.MOTOR_2)
display.clear()
def motor_on(self, motor, direction, speed=100):
"""
Turn motor with the given direction and speed
:param motor: KMotor.MOTOR1 or KMotor.Motor2
:param direction: KMotor.FORWARD or KMOTOR.REVERSE
:param speed: 0 - 100
:return:
"""
# make sure the speed is within range
if not 0 <= speed <= 100:
# not display a "NO" and return
display.show(Image.NO)
return
# speed needs to be scaled from 0-100 to 0-1023
speed = self._scale(speed)
# Move Motor Forward
if direction == KMotor.FORWARD:
if motor == KMotor.MOTOR_1:
pin8.write_analog(speed)
pin12.write_digital(0)
elif motor == KMotor.MOTOR_2:
pin0.write_analog(speed)
pin16.write_digital(0)
# Move Motor In Reverse
else:
if motor == KMotor.MOTOR_1:
pin12.write_analog(speed)
pin8.write_digital(0)
elif motor == KMotor.MOTOR_2:
pin16.write_analog(speed)
pin0.write_digital(0)
def motor_off(self, motor):
"""
Place motor in coast mode
:param motor: KMotor.MOTOR1 or KMotor.Motor2
:return:
"""
if motor == KMotor.MOTOR_1:
pin8.write_analog(0)
pin12.write_analog(0)
else:
pin0.write_analog(0)
pin16.write_analog(0)
def motor_brake(self, motor):
"""
Brake the selected motor.
:param motor:
:return:
"""
if motor == KMotor.MOTOR_1:
pin8.write_digital(1)
pin12.write_digital(1)
else:
pin0.write_digital(1)
pin16.write_digital(1)
def _scale(self, value):
"""
Scale the speed from 0-100 to 0-1023
:param value: 0-100
:return: scaled speed
"""
new_value = (1023 / 100) * value
return int(new_value)
# end of k_motory.py
# start of application
# application imports
from microbit import sleep
# create an instance of KMotor
r = KMotor()
# turn motor 1 on in forward for 1 second and turn it off
r.motor_on(r.MOTOR_1, r.FORWARD)
sleep(1000)
r.motor_off(r.MOTOR_1)
# turn motor 1 on in reverse for 1 second and turn it off
r.motor_on(r.MOTOR_1, r.REVERSE, 50)
sleep(1000)
r.motor_off(r.MOTOR_1)
# turn motor 2 on in forward for 1 second and turn it off
r.motor_on(r.MOTOR_2, r.FORWARD)
sleep(1000)
r.motor_off(r.MOTOR_2)
# turn motor 2 on in reverse for 1 second and turn it off
r.motor_on(r.MOTOR_2, r.REVERSE, 50)
sleep(1000)
r.motor_off(r.MOTOR_2)
# spin 1 - spin motors 1 and 2 in opposite directions for 2 seconds
r.motor_on(r.MOTOR_1, r.FORWARD, 75)
r.motor_on(r.MOTOR_2, r.REVERSE, 75)
sleep(2000)
r.motor_off(r.MOTOR_1)
r.motor_off(r.MOTOR_2)
# spin 2 - spin motors 1 and 2 in opposite directions for 2 seconds
# but changing the directions of the motors from the previous run
r.motor_on(r.MOTOR_2, r.FORWARD, 75)
r.motor_on(r.MOTOR_1, r.REVERSE, 75)
sleep(2000)
r.motor_off(r.MOTOR_1)
r.motor_off(r.MOTOR_2)
# turn both motors on in forward for a second
r.motor_on(r.MOTOR_1, r.FORWARD, 100)
r.motor_on(r.MOTOR_2, r.FORWARD, 100)
sleep(1000)
# without pause # turn both motors on in reverse for a second
r.motor_on(r.MOTOR_1, r.REVERSE, 100)
r.motor_on(r.MOTOR_2, r.REVERSE, 100)
sleep(1000)
# turn both motors off
r.motor_off(r.MOTOR_1)
r.motor_off(r.MOTOR_2)