Micropython 飞控 驱动 4.无刷电机

一、介绍
无刷电机是通过电调进行控制的，通过对PWM的调整控制电机转速
二、代码

# 控制电机函数

from pyb import Timer,Pin,ADC
import time

class Motor():
    # 电机pwm初始化
    def __init__(self,isInit=False):
        timerMotor_1 = Timer(3, freq=50)
        timerMotor_2 = Timer(4, freq=50)
        self.motor1 = timerMotor_1.channel(1, Timer.PWM, pin=Pin('B4'))
        self.motor2 = timerMotor_1.channel(2, Timer.PWM, pin=Pin('B5'))
        self.motor3 = timerMotor_2.channel(3, Timer.PWM, pin=Pin('B8'))
        self.motor4 = timerMotor_2.channel(4, Timer.PWM, pin=Pin('B9'))
        self.motors = [self.motor1,self.motor2,self.motor3,self.motor4]
        # self.x = ADC(Pin('X2'))
        # self.btn_stop = Pin('X4',Pin.IN)
        if not isInit:
            for moto in self.motors:
                self.MotoSet(moto)
            time.sleep(1)
        self.MotosPwmUpdate([0,0,0,0])
    # 电机初始化 设置最高油门和最低油门
    def MotoSet(self,moto):
        moto.pulse_width_percent(10)
        time.sleep(2)
        moto.pulse_width_percent(5)

    # pwm 更新函数 1
    # 可以用于调试单个电机
    def MotoPwmUpdate(self,n,pwm):
        if pwm < 0 or pwm > 100:
            return None
        self.motors[n].pulse_width_percent(5 + pwm*5/100)

    # pwm 更新函数 2
    # 用于实际飞行
    def MotosPwmUpdate(self,pwms):
        
        for moto,pwm in zip(self.motors,pwms):
            moto.pulse_width_percent(5 + pwm*5/100)

    # 电机停止转动
    # 用于紧急制动和测试
    def MotoStop(self):
        for moto in self.motors:
            moto.pulse_width_percent(5)