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Make Motors PWM devices with optional speed argument on methods

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Ben Nuttall
2015-10-07 17:09:28 +01:00
parent 65b5ba9ea6
commit ee36451bed
4 changed files with 83 additions and 63 deletions
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27
gpiozero/output_devices.py
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@@ -195,7 +195,7 @@ class PWMOutputDevice(DigitalOutputDevice):
def value(self, n):
_min = self._min_pwm
_max = self._max_pwm
if _min >= n >= _max:
if _min <= n <= _max:
n *= 100
else:
raise GPIODeviceError(
@@ -289,22 +289,31 @@ class Motor(object):
if not all([forward, back]):
raise GPIODeviceError('forward and back pins must be provided')
self._forward = OutputDevice(forward)
self._backward = OutputDevice(back)
self._forward = PWMOutputDevice(forward)
self._backward = PWMOutputDevice(back)
def forward(self):
self._min_pwm = self._forward._min_pwm
self._max_pwm = self._forward._max_pwm
def forward(self, speed=1):
"""
Drive the motor forwards
"""
self._forward.on()
self._backward.off()
self._backward.value = self._min_pwm
self._forward.value = self._max_pwm
if speed < 1:
sleep(0.1) # warm up the motor
self._forward.value = speed
def backward(self):
def backward(self, speed=1):
"""
Drive the motor backwards
"""
self._backward.on()
self._forward.off()
self._forward.value = self._min_pwm
self._backward.value = self._max_pwm
if speed < 1:
sleep(0.1) # warm up the motor
self._backward.value = speed
def stop(self):
"""