Motor

class Motor(pin: int, angles: list[int])[source]

Bases: MotorBase

Controls a motor via PWM.

pin

The GPIO pin number used for the motor.

Type:: int

pinIdx

The index of the pin in the internal configuration lists.

Type:: int

pwmx

Mapping of pin indices to PWM channels.

Type:: list[int]

flag

State flag indicating if the motor is enabled.

Type:: bool

open_angle

The angle for the open position.

Type:: int

close_angle

The angle for the close position.

Type:: int

error

Error message if any.

Type:: str

chip

The path to the PWM chip.

Type:: str

__init__(pin: int, angles: list[int]) → None[source]

Initializes the Motor.

Parameters:

pin (int) – The GPIO pin number.
angles (list[int]) – A list containing [open_angle, close_angle].

Methods

`__init__`(pin, angles)	Initializes the Motor.
`close`()	Moves the motor to the close position.
`enable`(flag)	Enables or disables the motor PWM.
`open`()	Moves the motor to the open position.
`set`(on_time_ns)	Sets the duty cycle in nanoseconds.
`transform`(value)	Transforms an angle to a PWM duty cycle in nanoseconds.

Attributes

`close_angle`
`error`
`open_angle`

open_angle: int = 0

close_angle: int = 0

error: str = 'Error connecting to the motor '

enable(flag) → None[source]

Enables or disables the motor PWM.

Parameters:: flag (bool) – True to enable, False to disable.

set(on_time_ns) → None[source]

Sets the duty cycle in nanoseconds.

Parameters:: on_time_ns (int) – The high time in nanoseconds.

transform(value: int) → int[source]

Transforms an angle to a PWM duty cycle in nanoseconds.

Parameters:: value (int) – The angle in degrees (0-180).
Returns:: The duty cycle in nanoseconds (500000 - 2500000).
Return type:: int

open() → None[source]: Moves the motor to the open position.

close() → None[source]: Moves the motor to the close position.