<s> """<STR_LIT>""" <EOL> import bbb . pwm as pwm_mod <EOL> import bbb . gpio as gpio_mod <EOL> import bot . lib . lib as lib <EOL> FORWARD = <NUM_LIT:1> <EOL> REVERSE = <NUM_LIT:0> <EOL> class Motor ( object ) : <EOL> """<STR_LIT>""" <EOL> def __init__ ( self , pwm_num , gpio_num = None , inverted = False ) : <EOL> """<STR_LIT>""" <EOL> self . logger = lib . get_logger ( ) <EOL> self . pwm_num = pwm_num <EOL> self . gpio_num = gpio_num <EOL> self . invert ( inverted ) <EOL> config = lib . get_config ( "<STR_LIT>" ) <EOL> if config [ "<STR_LIT>" ] [ "<STR_LIT>" ] : <EOL> pwm_test_dir = config [ "<STR_LIT>" ] <EOL> self . pwm = pwm_mod . PWM ( self . pwm_num , pwm_test_dir ) <EOL> if self . gpio_num is not None : <EOL> gpio_test_dir = config [ "<STR_LIT>" ] <EOL> self . gpio = gpio_mod . GPIO ( self . gpio_num , gpio_test_dir ) <EOL> else : <EOL> self . pwm = pwm_mod . PWM ( self . pwm_num ) <EOL> if self . gpio_num is not None : <EOL> self . gpio = gpio_mod . GPIO ( self . gpio_num ) <EOL> self . pwm . polarity = <NUM_LIT:0> <EOL> self . speed = <NUM_LIT:0> <EOL> if self . gpio_num is not None : <EOL> self . direction = FORWARD <EOL> self . logger . debug ( "<STR_LIT>" . format ( self ) ) <EOL> def __str__ ( self ) : <EOL> """<STR_LIT>""" <EOL> if self . gpio_num is None : <EOL> return "<STR_LIT>" . format ( <EOL> self . pwm_num , self . speed ) <EOL> return "<STR_LIT>" . format ( <EOL> self . pwm_num , <EOL> self . gpio_num , <EOL> self . speed , <EOL> self . direction , <EOL> self . velocity ) <EOL> def invert ( self , inverted ) : <EOL> """<STR_LIT>""" <EOL> self . inverted = inverted <EOL> if self . inverted : <EOL> self . forward = REVERSE <EOL> self . reverse = FORWARD <EOL> else : <EOL> self . forward = FORWARD <EOL> self . reverse = REVERSE <EOL> def get_speed ( self ) : <EOL> """<STR_LIT>""" <EOL> return int ( round ( ( self . pwm . duty / float ( self . pwm . period ) ) * <NUM_LIT:100> ) ) <EOL> def set_speed ( self , speed ) : <EOL> """<STR_LIT>""" <EOL> speed = int ( round ( speed ) ) <EOL> if speed > <NUM_LIT:100> : <EOL> self . logger . warning ( "<STR_LIT>" . format ( speed ) ) <EOL> speed = <NUM_LIT:100> <EOL> elif speed < <NUM_LIT:0> : <EOL> self . logger . warning ( "<STR_LIT>" . format ( speed ) ) <EOL> speed = <NUM_LIT:0> <EOL> self . pwm . duty = int ( round ( ( speed / <NUM_LIT> ) * self . pwm . period ) ) <EOL> self . logger . debug ( "<STR_LIT>" . format ( self ) ) <EOL> speed = property ( get_speed , set_speed ) <EOL> def get_direction ( self ) : <EOL> """<STR_LIT>""" <EOL> if self . gpio_num is None : <EOL> self . logger . warning ( "<STR_LIT>" . format ( self ) ) <EOL> return None <EOL> if self . gpio . value == self . forward : <EOL> return "<STR_LIT>" <EOL> elif self . gpio . value == self . reverse : <EOL> return "<STR_LIT>" <EOL> else : <EOL> self . logger . error ( "<STR_LIT>" . format ( self . gpio ) ) <EOL> def set_direction ( self , direction ) : <EOL> """<STR_LIT>""" <EOL> if self . gpio_num is None : <EOL> self . logger . warning ( "<STR_LIT>" . format ( self ) ) <EOL> return None <EOL> if direction == "<STR_LIT>" : <EOL> direction = self . forward <EOL> elif direction == "<STR_LIT>" : <EOL> direction = self . reverse <EOL> elif direction != <NUM_LIT:0> and direction != <NUM_LIT:1> : <EOL> self . logger . warning ( "<STR_LIT>" . format ( direction ) ) <EOL> return <EOL> self . gpio . value = direction <EOL> self . logger . debug ( "<STR_LIT>" . format ( self ) ) <EOL> direction = property ( get_direction , set_direction ) <EOL> def get_velocity ( self ) : <EOL> """<STR_LIT>""" <EOL> if self . gpio_num is None : <EOL> return self . speed <EOL> return self . speed * ( <NUM_LIT:1> if self . gpio . value == self . forward else - <NUM_LIT:1> ) <EOL> velocity = property ( get_velocity ) </s>
