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tdrobotica

Proyecto motores

tdrobotica
Dec 29th, 2021 (edited)
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  1. from machine import Pin, PWM
  2. from time import sleep
  3.  
  4. #este metodo
  5. def set_vel_motor_M1(vel):
  6.     #configurar pines para motor M1
  7.     ain_1 = PWM(Pin(12))
  8.     ain_2 = PWM(Pin(13))
  9.     #Fijar las frecuencias a 60Hz
  10.     ain_1.freq(50)
  11.     ain_2.freq(50)
  12.     #fijar la velocidad
  13.     if(vel>0):
  14.         ain_1.duty(vel*10)
  15.         ain_2.duty(0)
  16.     elif(vel<0):
  17.         vel = -vel
  18.         ain_1.duty(0)
  19.         ain_2.duty(vel*10)
  20.     else:
  21.         ain_1.duty(0)
  22.         ain_2.duty(0)
  23.        
  24. def main():
  25.     vel = -100
  26.     step = 10
  27.     while(1):
  28.         set_vel_motor_M1(vel)
  29.         vel += step
  30.         sleep(2)
  31.         if(vel>100 or vel<-100):
  32.             step = -step
  33.             vel += step
  34.         print(vel)
  35.         pass
  36.  
  37. if __name__ == "__main__":
  38.     main()
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