micropython编程 esp32+drv8833+霍尔编码器

目录

• 模块代码
• 使用方法

模块代码

from machine import *
import timeclass moto:def __init__(self, pwm0, pwm1):self.pwm0 = pwm0self.pwm1 = pwm1def 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 = pin0self.pin0.irq(trigger=Pin.IRQ_RISING, handler=self.handler0)self.pin1 = pin1self.pin1.irq(trigger=Pin.IRQ_RISING, handler=self.handler1)self.counter = 0self.speed = 0self.tim = Timer(i)self.tim.init(period=20, callback=self.timHandler)def handler0(self, a):if self.pin0.value():self.counter += 1else:self.counter -= 1def handler1(self, a):if not self.pin1.value():self.counter += 1else:self.counter -= 1def timHandler(self, t):self.speed = self.counterself.counter = 0def read(self):return self.speed

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0-1023while True:speed = encoder.read()print("speed:{}".format(speed))time.sleep(0.5)

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