dcmotor.py

import time

class DCMotor:      
  def __init__(self, pin1, pin2, pin3, pin4, enablea, enableb, min_duty=750, max_duty=1023):
    self.pin1=pin1
    self.pin2=pin2
    self.pin3=pin3
    self.pin4=pin4
    self.enablea_pin=enablea
    self.enableb_pin=enableb
    self.min_duty = min_duty
    self.max_duty = max_duty

  def forward(self,speed):
    self.speed = speed
    self.enablea_pin.duty(self.duty_cycle(self.speed))
    self.enableb_pin.duty(self.duty_cycle(self.speed))
    self.pin1.value(1)
    self.pin2.value(0)
    self.pin3.value(1)
    self.pin4.value(0)

  def right(self,speed):
    self.speed = speed
    self.enablea_pin.duty(self.duty_cycle(self.speed))
    self.enableb_pin.duty(self.duty_cycle(self.speed))
    self.pin1.value(1)
    self.pin2.value(0)
    self.pin3.value(0)
    self.pin4.value(1)
    
  def left(self,speed):
    self.speed = speed
    self.enablea_pin.duty(self.duty_cycle(self.speed))
    self.enableb_pin.duty(self.duty_cycle(self.speed))
    self.pin1.value(0)
    self.pin2.value(1)
    self.pin3.value(1)
    self.pin4.value(0)
    
  def backwards(self, speed):
    self.speed = speed
    self.enablea_pin.duty(self.duty_cycle(self.speed))
    self.enableb_pin.duty(self.duty_cycle(self.speed))
    self.pin1.value(0)
    self.pin2.value(1)
    self.pin3.value(0)
    self.pin4.value(1)

  def stop(self, speed):
    step = 5
    while speed > 0:
      self.speed(speed)
      speed -= step
      time.sleep(0.1)
    self.speed = 0
    time.sleep(0.01)
    self.enablea_pin.duty(0)
    self.enableb_pin.duty(0)
    self.pin1.value(0)
    self.pin2.value(0)
    self.pin3.value(0)
    self.pin4.value(0)
    
  def duty_cycle(self, speed):
   if self.speed <= 0 or self.speed > 100:
        duty_cycle = 0
   else:
    duty_cycle = int(self.min_duty + (self.max_duty - self.min_duty)*((self.speed-1)/(100-1)))
    return duty_cycle