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software/common_class/vnh5019.py
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# -*- coding: utf-8 -*-
"""
author Baptiste Marechal
brief Driver for VNH5019 H bridge motor driver device.
"""
import pyb
class Vnh5019(object):
"""Handle the VNH5019 motor driver.
"""
def __init__(self, in_a, in_b, pwm, timer, freq, ch):
self.in_a = pyb.Pin(in_a, pyb.Pin.OUT_PP)
self.in_b = pyb.Pin(in_b, pyb.Pin.OUT_PP)
self.pwm = pyb.Timer(timer, freq=freq).channel(ch,
pyb.Timer.PWM,
pin=pyb.Pin(pwm))
self.set_pwm(0)
def set_pwm_percent(self, value=0):
if value >= 0:
self.set_dir(1)
self.pwm.pulse_width_percent(value)
else:
self.set_dir(-1)
self.pwm.pulse_width_percent(-value)
def set_pwm(self, value=0):
if value >= 0:
self.set_dir(1)
self.pwm.pulse_width(value)
else:
self.set_dir(-1)
self.pwm.pulse_width(-value)
def set_dir(self, val=1):
if val == 1:
self.in_a.low()
self.in_b.high()
elif val == -1:
self.in_a.high()
self.in_b.low()
def write(self, value):
self.set_pwm_percent(value / 320)
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