micropython编程 esp32+drv8833+霍尔编码器_micropython drv8833

模块代码

from machine import *
import time


class moto:
    def __init__(self, pwm0, pwm1):
        self.pwm0 = pwm0
        self.pwm1 = pwm1
        
    def setPwm(self, pwm):
        pwm = int(pwm)
        if pwm < 0:
            self.pwm0.duty(-pwm)
            self.pwm1.duty(0)
        else:
            self.pwm0.duty(0)
            self.pwm1.duty(pwm)
            
            
class encoder:
    def __init__(self, pin0, pin1, i):
        self.pin0 = pin0
        self.pin0.irq(trigger=Pin.IRQ_RISING, handler=self.handler0)
        self.pin1 = pin1
        self.pin1.irq(trigger=Pin.IRQ_RISING, handler=self.handler1)
        self.counter = 0
        self.speed = 0
        
        self.tim = Timer(i)
        self.tim.init(period=20, callback=self.timHandler)
    
    def handler0(self, a):
        if self.pin0.value():
            self.counter += 1
        else:
            self.counter -= 1
    
    def handler1(self, a):
        if not self.pin1.value():
            self.counter += 1
        else:
            self.counter -= 1
                
    def timHandler(self, t):
        self.speed = self.counter
        self.counter = 0
                
    def read(self):
        return self.speed

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50

使用方法

from machine import *
import time
from moto import *


# 编码器初始化
pin27 = Pin(27, Pin.IN)
pin14 = Pin(14, Pin.IN)   
encoder = encoder(pin27, pin14, 0)   # 参数(编码器A相引脚，编码器B相引脚，定时器序号)

# 电机初始化
pwm5 = PWM(Pin(5), freq=1000)
pwm4 = PWM(Pin(4), freq=1000)
moto = moto(pwm5, pwm4)
moto.setPwm(500)  # 范围0-1023

  
while True:
    speed = encoder.read()
    print("speed:{}".format(speed))
    time.sleep(0.5)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21