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TB6612FNG.py
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"""
Microphyton for ESP32 for Sparkfun TB6612FNG Motor Drive for two motors
by Atila ELMAS, [email protected]
the following functions implemented forward, backward, right, left,
brake, stor, standby
please note that only some Pin available for PWM and OUT for DOIT ESP32 dev.R1 36 pins
PWM pins : 0, 2, 4, 5, 10, 12, 13, 22
OUT pins : 0, 2, 4, 5, 10, 12, 13-19, 21-27,32,33
"""
from machine import Pin,PWM
from time import sleep
class Motor():
def __init__(self, BIN2,BIN1,STBY,AIN1,AIN2,PWMA,PWMB,ofsetA,ofsetB):
self.bin2 = Pin(BIN2, mode=Pin.OUT, pull=None)
self.bin1 = Pin(BIN1, mode=Pin.OUT, pull=None)
self.ain2 = Pin(AIN2, mode=Pin.OUT, pull=None)
self.ain1 = Pin(AIN1, mode=Pin.OUT, pull=None)
self.stby = Pin(STBY, mode=Pin.OUT, pull=None)
self.apwm = PWM(Pin(PWMA),50)
self.bpwm = PWM(Pin(PWMB),50)
self.stby.value(1)
if ofsetA==1:
self.aofset=True
else:
self.aofset=False
if ofsetB==1:
self.bofset=True
else:
self.bofset=False
def forward(self,speed):
if self.aofset:
self.ain1.value(1)
self.ain2.value(0)
else:
self.ain1.value(0)
self.ain2.value(1)
if self.bofset:
self.bin1.value(1)
self.bin2.value(0)
else:
self.bin1.value(0)
self.bin2.value(1)
self.apwm.duty(speed)
self.bpwm.duty(speed)
def backward(self,speed):
if self.aofset:
self.ain1.value(0)
self.ain2.value(1)
else:
self.ain1.value(1)
self.ain2.value(0)
if self.bofset:
self.bin1.value(0)
self.bin2.value(1)
else:
self.bin1.value(1)
self.bin2.value(0)
self.apwm.duty(speed)
self.bpwm.duty(speed)
def right(self,speed):
if self.aofset:
self.ain1.value(1)
self.ain2.value(0)
else:
self.ain1.value(0)
self.ain2.value(1)
if self.bofset:
self.bin1.value(0)
self.bin2.value(1)
else:
self.bin1.value(1)
self.bin2.value(0)
self.apwm.duty(speed)
self.bpwm.duty(speed)
def left(self,speed):
if self.aofset:
self.ain1.value(0)
self.ain2.value(1)
else:
self.ain1.value(1)
self.ain2.value(0)
if self.bofset:
self.bin1.value(1)
self.bin2.value(0)
else:
self.bin1.value(0)
self.bin2.value(1)
self.apwm.duty(speed)
self.bpwm.duty(speed)
def brake(self):
self.ain1.value(1)
self.ain2.value(1)
self.bin1.value(1)
self.bin2.value(1)
self.apwm.duty(0)
self.bpwm.duty(0)
def stop(self):
self.ain1.value(0)
self.ain2.value(0)
self.bin1.value(0)
self.bin2.value(0)
self.apwm.duty(1000)
self.bpwm.duty(1000)
def standby(self):
self.ain1.value(0)
self.ain2.value(0)
self.bin1.value(0)
self.bin2.value(0)
self.apwm.duty(1000)
self.bpwm.duty(1000)
self.stby.value(0)
def run(self):
self.ain1.value(0)
self.ain2.value(0)
self.bin1.value(0)
self.bin2.value(0)
self.apwm.duty(1000)
self.bpwm.duty(1000)
self.stby.value(1)