motor

Functions

`find_pwmchip`([target_device])	Finds the PWM chip path for a given target device.
`get_motor`(pin, angles)	Factory function to create and initialize a Motor instance.

Classes

Motor(pin, angles)

Controls a motor via PWM.

find_pwmchip(target_device='1f00098000.pwm') → str[source]

Finds the PWM chip path for a given target device.

Parameters:: target_device (str) – The target device name to look for. Defaults to “1f00098000.pwm”.
Returns:: The path to the PWM chip or raises RuntimeError if not found.
Return type:: str
Raises:: RuntimeError – If no valid PWM chip is found.

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

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.

get_motor(pin: int, angles: list[int]) → MotorBase[source]

Factory function to create and initialize a Motor instance.

Parameters:

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

Returns:

An initialized Motor instance or a dummy MotorBase if initialization fails.

Return type:

MotorBase