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‎REFERENCE.md‎

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# Reference <!-- omit in toc -->
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- [Getting Started](#getting-started)
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- [Installing](#installing)
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- [Examples](#examples)
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- [Two Motors](#two-motors)
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- [Function Reference](#function-reference)
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- [set_voltage](#set_voltage)
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- [get_voltage](#get_voltage)
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- [set_outputs](#set_outputs)
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- [brake](#brake)
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- [coast](#coast)
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- [forward](#forward)
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- [reverse](#reverse)
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- [set_direction](#set_direction)
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- [get_fault](#get_fault)
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- [clear_fault](#get_fault)
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## Getting Started
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Most people should grab the library from GitHub and run our simple installer:
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### Installing
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```
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git clone https://github.com/pimoroni/drv8830-python
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cd drv8830-python
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sudo ./install.sh
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```
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This ensures any dependencies are installed and will copy examples into `~/Pimoroni/drv8830/`
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You can install just the drv8830 library by running:
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```
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sudo pip3 install drv8830
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```
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## Examples
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### Two Motors
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[two-motors.py](examples/two-motors.py)
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Demonstrates the use of two DRV8830 drivers as part of a two-wheeled robot.
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## Function Reference
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In all cases you'll first need to initialise a DRV8830 library instance with the specific I2C address for each driver you're using.
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```python
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from drv8830 import DRV8830, I2C_ADDR1
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drv8830 = DRV8830(i2c_addr=I2C_ADDR1)
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```
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The value that you use for `i2c_addr` will vary depending on your I2C address jumper configuration:
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* `I2C_ADDR1` - `0x60` - both select jumpers bridged (not cut) (default)
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* `I2C_ADDR2` - `0x61` - only jumper A0 cut (ADDR+1)
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* `I2C_ADDR3` - `0x63` - only jumper A1 cut (ADDR+3)
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* `I2C_ADDR4` - `0x64` - both A0 and A1 cut (ADDR+1 and ADDR+3)
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Ensure care when cutting jumpers, use the point of a sharp hobby-knife and avoid slipping since this may damage other traces.
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### set_voltage
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```python
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drv8830.set_voltage(voltage)
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```
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Set the motor driver voltage.
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Roughly corresponds to motor speed depending upon the characteristics of your motor.
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Value values range from 0.48v to 5.06v
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### get_voltage
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```python
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voltage = drv8830.get_voltage()
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```
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Returns the currently set voltage value from the DRV8830.
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### set_outputs
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```python
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drv8830.set_outputs(out1, out2)
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```
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Set the individual driver outputs. Eg:
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```python
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drv8830.set_outputs(1, 0)
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```
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Possible values are 1 (on) and 0 (off) with the following valid permutations:
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* 1 1 - brake
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* 0 0 - coast
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* 1 0 - forward
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* 0 1 - reverse
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### brake
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```python
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drv8830.brake()
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```
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Drives both outputs high, effectively braking the motor.
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Does the same as `drv8830.set_outputs(1, 1)` or `drv8830.set_direction("brake")`.
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### coast
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```python
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drv8830.coast()
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```
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Drives both outputs low, allowing the motor to coast to a stop.
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Does the same as `drv8830.set_outputs(0, 0)` or `drv8830.set_direction("coast")`.
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### forward
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```python
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drv8830.forward()
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```
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Drives one output high and the other low, effectively turning the motor "forwards" (albeit this depends on how your motor is positioned and wired)
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Does the same as `drv8830.set_outputs(1, 0)` or `drv8830.set_direction("forward")`.
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### reverse
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```python
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drv8830.forward()
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```
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Drives one output high and the other low, effectively turning the motor in "reverse" (albeit this depends on how your motor is positioned and wired)
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Does the same as `drv8830.set_outputs(0, 1)` or `drv8830.set_direction("reverse")`.
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### set_direction
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```python
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drv8830.set_direction(direction)
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```
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Accepts a string and sets the direction to the supplied "forward", "backward", "brake" or "coast".
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### get_fault
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```python
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fault = drv8830.get_fault()
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```
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Returns a namedtuple of the fault flags:
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* `current_limit` - external current limit exceeded (ilimit resistor), must clear fault or disable motor to reactivate
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* `over_temperature` - driver has overheated, device resumes once temperature has dropped
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* `under_voltage` - driver is below operating voltage (brownout), resumes once voltage has stabalised
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* `over_current` - over-current protection activated, device disabled, must clear fault to reactivate
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* `fault` - one or more fault flags is set
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### clear_fault
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```python
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drv8830.clear_fault()
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```
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Clear any outstanding fault conditions.
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# Reference <!-- omit in toc -->
2+
3+
- [Getting Started](#getting-started)
4+
- [Installing](#installing)
5+
- [Examples](#examples)
6+
- [Two Motors](#two-motors)
7+
- [Function Reference](#function-reference)
8+
- [set_voltage](#set_voltage)
9+
- [get_voltage](#get_voltage)
10+
- [set_outputs](#set_outputs)
11+
- [brake](#brake)
12+
- [coast](#coast)
13+
- [forward](#forward)
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- [reverse](#reverse)
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- [set_direction](#set_direction)
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- [get_fault](#get_fault)
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- [clear_fault](#get_fault)
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## Getting Started
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Most people should grab the library from GitHub and run our simple installer:
23+
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### Installing
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```
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git clone https://github.com/pimoroni/drv8830-python
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cd drv8830-python
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sudo ./install.sh
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```
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This ensures any dependencies are installed and will copy examples into `~/Pimoroni/drv8830/`
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You can install just the drv8830 library by running:
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```
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sudo pip3 install drv8830
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```
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## Examples
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### Two Motors
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[two-motors.py](examples/two-motors.py)
44+
45+
Demonstrates the use of two DRV8830 drivers as part of a two-wheeled robot.
46+
47+
48+
## Function Reference
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In all cases you'll first need to initialise a DRV8830 library instance with the specific I2C address for each driver you're using.
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```python
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from drv8830 import DRV8830, I2C_ADDR1
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drv8830 = DRV8830(i2c_addr=I2C_ADDR1)
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```
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The value that you use for `i2c_addr` will vary depending on your I2C address jumper configuration:
59+
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* `I2C_ADDR1` - `0x60` - both select jumpers bridged (not cut) (default)
61+
* `I2C_ADDR2` - `0x61` - only jumper A0 cut (ADDR+1)
62+
* `I2C_ADDR3` - `0x63` - only jumper A1 cut (ADDR+3)
63+
* `I2C_ADDR4` - `0x64` - both A0 and A1 cut (ADDR+1 and ADDR+3)
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Ensure care when cutting jumpers, use the point of a sharp hobby-knife and avoid slipping since this may damage other traces.
66+
67+
### set_voltage
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```python
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drv8830.set_voltage(voltage)
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```
72+
73+
Set the motor driver voltage.
74+
75+
Roughly corresponds to motor speed depending upon the characteristics of your motor.
76+
77+
Value values range from 0.48v to 5.06v
78+
79+
### get_voltage
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```python
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voltage = drv8830.get_voltage()
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```
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Returns the currently set voltage value from the DRV8830.
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### set_outputs
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```python
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drv8830.set_outputs(out1, out2)
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```
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Set the individual driver outputs. Eg:
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```python
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drv8830.set_outputs(1, 0)
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```
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Possible values are 1 (on) and 0 (off) with the following valid permutations:
100+
101+
* 1 1 - brake
102+
* 0 0 - coast
103+
* 1 0 - forward
104+
* 0 1 - reverse
105+
106+
### brake
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```python
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drv8830.brake()
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```
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Drives both outputs high, effectively braking the motor.
113+
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Does the same as `drv8830.set_outputs(1, 1)` or `drv8830.set_direction("brake")`.
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### coast
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```python
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drv8830.coast()
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```
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Drives both outputs low, allowing the motor to coast to a stop.
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Does the same as `drv8830.set_outputs(0, 0)` or `drv8830.set_direction("coast")`.
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### forward
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```python
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drv8830.forward()
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```
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Drives one output high and the other low, effectively turning the motor "forwards" (albeit this depends on how your motor is positioned and wired)
133+
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Does the same as `drv8830.set_outputs(1, 0)` or `drv8830.set_direction("forward")`.
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### reverse
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```python
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drv8830.forward()
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```
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Drives one output high and the other low, effectively turning the motor in "reverse" (albeit this depends on how your motor is positioned and wired)
143+
144+
Does the same as `drv8830.set_outputs(0, 1)` or `drv8830.set_direction("reverse")`.
145+
146+
### set_direction
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```python
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drv8830.set_direction(direction)
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```
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Accepts a string and sets the direction to the supplied "forward", "backward", "brake" or "coast".
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### get_fault
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```python
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fault = drv8830.get_fault()
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```
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Returns a namedtuple of the fault flags:
161+
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* `current_limit` - external current limit exceeded (ilimit resistor), must clear fault or disable motor to reactivate
163+
* `over_temperature` - driver has overheated, device resumes once temperature has dropped
164+
* `under_voltage` - driver is below operating voltage (brownout), resumes once voltage has stabalised
165+
* `over_current` - over-current protection activated, device disabled, must clear fault to reactivate
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* `fault` - one or more fault flags is set
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### clear_fault
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```python
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drv8830.clear_fault()
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```
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Clear any outstanding fault conditions.

‎tests/conftest.py‎

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import pytest
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from i2cdevice import MockSMBus
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@pytest.fixture(scope='function', autouse=False)
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def i2c_dev():
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yield MockSMBus(1)
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import pytest
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from i2cdevice import MockSMBus
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@pytest.fixture(scope='function', autouse=False)
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def i2c_dev():
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yield MockSMBus(1)

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