RC Driver

Python Library for PWM Driver, Power Monitor, ADC, Tachometer and PWM Decoder.

Python Library

Turta_RCDriver library is responsible for reading tachometer inputs, analog inputs, PWM decode results, PWM generation, LED lighting control, CPU fan control, reading CPU temperature and measuring battery Voltage.

Initialization

Add the following statement to the top of your Python code.

from turta_rcdriverhat import Turta_RCDriver

Then, create an instance of the RCDriver class.

rc = Turta_RCDriver.RCDriver()

Now you're ready to access the library by calling its instance.

Basic Members

Set PWM Pulse

Sets the PWM pulse length of selected channel at 60Hz.

set_pwm(ch, pos)

• Parameters

  • PWM_OUT ch: PWM Output channel.

  • Int pos: Pulse length. (-128 is 1000us, 0 is 1500us, 128 is 2000us.)

• Returns

  • None

Set All PWM Pulses

Sets all PWM pulse lengths at 60Hz.

set_pwms(pos)

• Parameters

  • Int[] pos: Pulse length. (-128 is 1000us, 0 is 1500us, 128 is 2000us), channels S, T, 3 and 4 respectively.

• Returns

  • None

Set Fan Speed

Sets the fan speed.

set_fan(speed)

• Parameters

  • Byte speed: Fan speed. (0 to 100, 0 is off, 100 is full speed.)

• Returns

  • None

Set PWM Pulse

Sets the PWM pulse length of selected channel at 60Hz.

set_pwm(ch, pos)

• Parameters

  • PWM_OUT ch: PWM Output channel.

  • Int pos: Pulse length. (-128 is 1000us, 0 is 1500us, 128 is 2000us.)

• Returns

  • None

Set LED Brightness

Sets the brightness of the selected LED.

set_led(led, b)

• Parameters

  • LED_OUT led: LED channel.

  • Int b: LED brightness. (0 to 4095, 0 is off, 4095 is full bright.)

• Returns

  • None

Set All LED Brightnesses

Sets the brightnesses of the LEDs.

set_leds(b)

• Parameters

  • Int[] b: LED brightness. (0 to 4095.) Front, rear, stop, left and right respectively.

• Returns

  • None

Set PWM Pulses Off

Sets controller PWM outputs off. (Steering, Throttle, Aux 3, Aux 4.)

set_pwms_off()

• Parameters

  • None

• Returns

  • None

Set All LEDs Off

Sets all LEDs off.

set_leds_off()

• Parameters

  • None

• Returns

  • None

Read Battery Voltage

Reads the battery Voltage.

read_voltage()

• Parameters

  • None

• Returns

  • Float: Battery Voltage.

Read PWM Pulse

Reads the pulse length of the selected PWM channel.

read_pwm(ch)

• Parameters

  • PWM_IN ch: PWM Channel.

• Returns

  • Int: Pulse length in microseconds.

Read All PWM Pulses

Reads the pulse length of the all PWM channels.

read_pwms()

• Parameters

  • None

• Returns

  • Int[]: Pulse length in microseconds, channel S, T, 3 and 4 respectively.

Read Analog Input

Reads the analog input of the selected channel.

read_analog(ch)

• Parameters

  • ANALOG_IN ch: Analog input channel.

• Returns

  • Int: 10-Bits analog value. (0 to 1023)

Read All Analog Inputs

Reads the analog inputs of all four channels.

read_analogs()

• Parameters

  • None

• Returns

  • Int[]: 10-Bits analog value. (0 to 1023) Channel 1 to 4 respectively.

Read Tachometer Input

Reads the speed of vehicle using the selected tachometer input.

read_tach(ch, ticks_per_rev, dia_cm, mph)

• Parameters

  • TACH_IN ch: Tachometer channel.

  • Int ticks_per_rev: Ticks per revolution. (Default is 1.)

  • Int dia_cm: Diameter in cm. (Default none returns RPM.)

  • Bool mph: True for MPH, False for KMH output. Checked only if dia_cm is set. (Default is False.)

• Returns

  • Float: Vehicle speed or RPM.

Read Both Tachometer Inputs

Reads the speed of vehicle using the tachometer inputs.

read_tachs(ticks_per_rev, dia_cm, mph)

• Parameters

  • Int ticks_per_rev: Ticks per revolution. (Default is 1.)

  • Int dia_cm: Diameter in cm. (Default none returns RPM.)

  • Bool mph: True for MPH, False for KMH output. Checked only if dia_cm is set. (Default is False.)

• Returns

  • Float[]: Vehicle speed or RPM, left and right respectively.

Read CPU Temperature

Reads the temperature of the Raspberry Pi's CPU.

read_cpu_temp(fahrenheit)

• Parameters

  • None

• Returns

  • Float: CPU Temperature.

Advanced Members

Test Microcontroller

Sends Who_Am_I command to the MCU, checks if it responses correctly.

test_mcu()

• Parameters

  • None

• Returns

  • Bool: True if the device responses with 0xBD, False if not.

Finalizer

When exiting from the program, the library turns off all board functions. (Stops PWM generation, turns LEDs off, turns off LEDs.)