rotary encoder class

Author: sorre97

rotary_encoder/motorencoder.py

@@ -3,16 +3,15 @@
 
 from rotarydecoder import RotaryDecoder
 
+
 class MotorEncoder:
-    """
-        Class that handles rotary decoder motors modelisation
+    """ Class that handles rotary decoder motors modelisation
 
         The support class RotaryDecoder decodes mechanical rotary encoder
         pulses. See the file for more.
 
         Every movement method must acquire lock in order not to have
-        concurrency problems on GPIO READ/WRITE
-    """
+        concurrency problems on GPIO READ/WRITE """
 
     # default constructor
     def __init__(self, pi, enable_pin, forward_pin, backward_pin, encoder_feedback_pin):
@@ -28,17 +27,15 @@ def __init__(self, pi, enable_pin, forward_pin, backward_pin, encoder_feedback_p
         self._distance = 0
         self._ticks = 0
         self._PWM_value = 0
-        self._speed = 0
+        self._encoder_speed = 0
         self._is_moving = False
 
         # other
         self._callback = self._pi.callback()
         self._motor_lock = threading.RLock()
         self._rotary_decoder = RotaryDecoder(pi, encoder_feedback_pin, callback)
 
-
     # GETTERS
-
     # ticks
     def ticks(self):
         return self._ticks
@@ -53,16 +50,28 @@ def direction(self):
 
     # speed
     def speed(self):
-        return self._speed
+        return self._encoder_speed
 
     # is_moving
     def is_moving(self):
         return self._is_moving
 
-
     # MOVEMENT
+    """ The stop function acquires the lock to operate on motor
+        then writes a 0 on movement pins to stop the motor
+        and releases the lock afterwards """
+    def control(self, speed = 100.0):
+        self._motor_lock.acquire()  # acquiring lock
+        self._distance = 0  #resetting distance everytime motor is used
+        self._direction = 1 if speed > 0 else -1    # setting direction according to speed
+
+        if(self._direction):
+            self.stop()
+            self._pigpio.set_PWM_dutycycle()
+        else
+            self.stop()
+            self._pigpio.set_PWM_dutycycle()
 
-    def control(self, ):
 
 
     """ The stop function acquires the lock to operate on motor
@@ -76,8 +85,6 @@ def stop(self):
         self._motor_lock.release()
 
     # OTHER
-
     # callback cancelling
     def cancel_callback(self):
         self._rotary_decoder.cancel()
-