TX-PI-HAT Class

TX-PI-HAT-Counter.ipynb

TXPI.py

import pigpio

class TXPIMotor():
    
    def set_IN(self, pin, value):
        self.pi.write(pin, value)

    def get_freq(self):
        return self.pi.get_PWM_frequency(self.pwm)
    
    def set_freq(self, value):
        self.freq = value
        self.pi.set_PWM_frequency(self.pwm, self.freq)
        
    def get_duty(self):
        return self.pi.get_PWM_dutycycle(self.pwm)
    
    def set_duty(self, value):
        self.dutycycle = value
        self.pi.set_PWM_dutycycle(self.pwm, value)
    
    def set_mode(self, mode):
        bits = { "Off":   [ pigpio.LOW,  pigpio.LOW  ],
                 "Left":  [ pigpio.HIGH, pigpio.LOW  ],
                 "Right": [ pigpio.LOW,  pigpio.HIGH ],
                 "Brake": [ pigpio.HIGH, pigpio.HIGH ] }
        self.pi.write(self.in1, bits[mode][0]);
        self.pi.write(self.in2, bits[mode][1]);
        
    def __init__(self, in1, in2, pwm, freq, dutycycle, pi):
        self.in1 = in1
        self.in2 = in2
        self.pwm = pwm
        self.freq = freq
        self.dutycycle = dutycycle
        self.pi = pi
        
        self.set_freq(self.freq)
        self.set_duty(self.dutycycle)
        self.pi.set_mode(self.in1, pigpio.OUTPUT)
        self.pi.set_mode(self.in2, pigpio.OUTPUT)
        
        self.set_IN(self.in1, pigpio.LOW)
        self.set_IN(self.in2, pigpio.LOW)
    
class TXPIOutput():
    def __init__(self, pin, pi):
        self.pi = pi
        self.pin = pin
        pi.set_mode(self.pin, pigpio.OUTPUT)
        
    def set_value(self, value):
        self.pi.write(self.pin, value)
    
class TXPIInput():
    def __init__(self, pin, pi):
        self.pi = pi
        self.pin = pin
        pi.set_mode(self.pin, pigpio.INPUT)
        
    def get_value(self):
        return 100
    
class TXPICounter():
    def __init__(self, pin, pi):
        self.counter = pi.callback(pin, pigpio.FALLING_EDGE)
    def get_value(self):
        pass
    def clear(self):
        pass
    def enabeld(self):
        pass
    def callback(event, tick):
        print(event, tick)
    
class TXPIHat():
    PINS = { "I1": 12, "I2": 16, "I3": 20, "I4": 21,
             "STBY": 19,
             "AIN1": 23, "AIN2": 22, "PWMA": 18,
             "BIN1": 5,  "BIN2": 6,  "PWMB": 13 }
    
    def motor_stby(self, value):
        self.STBY.set_value(value)
        
    def motor_enabled(self, value):
        if value:
            self.motor_stby(1)
        else:
            self.motor_stby(0)
    
    def __init__(self):
        try:
            self.pi = pigpio.pi()
            # configure I1..I4 as input
            self.I1 = TXPIInput(self.PINS["I1"], self.pi)
            self.I2 = TXPIInput(self.PINS["I2"], self.pi)
            self.I3 = TXPIInput(self.PINS["I3"], self.pi)
            self.I4 = TXPIInput(self.PINS["I4"], self.pi)
            
            # confugure I2 as counter
            self.C1 = TXPICounter(self.PINS["I1"], self.pi)
            self.C2 = TXPICounter(self.PINS["I2"], self.pi)

            # power up h bridge for M1 and M2
            self.STBY = TXPIOutput(self.PINS["STBY"], self.pi)
            self.STBY.set_value(pigpio.LOW)

            # ---------------- M1 -----------------------
            # configure h bridge
            self.M1 = TXPIMotor(self.PINS["BIN1"], self.PINS["BIN2"], self.PINS["PWMB"], 200, 50, self.pi)
            
            # ---------------- M2 -----------------------
            # configure h bridge
            self.M2 = TXPIMotor(self.PINS["AIN1"], self.PINS["AIN2"], self.PINS["PWMA"], 200, 50, self.pi)
            
            self.ok = True
        except Exception as e:
            self.ok = False
            self.err = str(e)