kopia lustrzana https://github.com/GuyCarver/MicroPython
65 wiersze
1.6 KiB
Python
65 wiersze
1.6 KiB
Python
# Controller for the quicrun 1060 Electronic Speed Control (ESP)
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#This controller works through the pca9865 servo controller.
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from time import sleep_ms
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#todo: May need to move speed values over time if the battery cannot handle it.
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class quicrun(object):
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'''docstring for quicrun'''
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_STOP = const(50)
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_FORWARD_MAX = const(68)
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_FORWARD_MIN = const(52)
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_BACKWARD_MAX = const(30)
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_BACKWARD_MIN = const(48)
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_BACKWARD_INIT = const(45)
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@staticmethod
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def getperc( aMin, aMax, aPerc ) :
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return (((aMax - aMin) * aPerc) // 100) + aMin
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def __init__(self, aPCA, aIndex):
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'''aPCA = pca9865 object to use for PWM control of the ESC.
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aIndex = Servo index on pca9865 (0-15).
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'''
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super(quicrun, self).__init__()
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self._pca = aPCA
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self._index = aIndex
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self.reset()
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def reset( self ) :
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self._pca.set(self._index, 75)
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sleep_ms(500)
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self._pca.set(self._index, 100)
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sleep_ms(500)
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self._pca.set(self._index, _STOP)
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self._curspeed = 0
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def _set( self, aValue ) :
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self._pca.set(self._index, aValue)
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def _reverse( self ) :
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if self._currspeed >= 0 :
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self._set(_STOP)
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sleep_ms(100)
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self._set(_BACKWARD_INIT)
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sleep_ms(100)
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self._set(_STOP)
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sleep_ms(100)
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def speed( self, aSpeed ) :
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'''Set speed -100 to 100.'''
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aSpeed = max(min(100, aSpeed), -100)
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if aSpeed == 0 :
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self._set(_STOP)
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else:
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if aSpeed > 0 :
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self._set(quicrun.getperc(_FORWARD_MIN, _FORWARD_MAX, aSpeed))
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else:
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self._reverse()
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self._set(quicrun.getperc(_BACKWARD_MAX, _BACKWARD_MIN, 100 + aSpeed))
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self._currspeed = aSpeed
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