RomiMotor module

class RomiMotor.RomiMotor(pwm_tim, effort_pin, direction_pin, enable_pin, encoder, invert_flag)

Bases: object

closed_loop(kp, ki, desired_speed)

Function within the RomiMotor class to run closed loop control of the motor

Sets the duty cycles of the motor utilizing a desired speed and a PI Controller

disable()

Function within the RomiMotor class to set the enable pin of the motor to false

enable()

Function within the RomiMotor class to set the enable pin of the motor to true

get_speed()

Function within the RomiMotor class to get the current speed of the motor :returns: Returns the speed of the motor in rpm

set_duty(duty)

Function within the RomiMotor class to set the current speed of the motor