mpy_uart_simple_no_library_example.py

# This example shows a simple way to control the Motoron Motor Controller
# serial interface using the machine.UART class in MicroPython, without
# using the Motoron library.

import math
import time

from machine import UART, Pin
port = UART(1, 115200, tx=Pin(4), rx=Pin(5), timeout=100)

def set_max_acceleration(motor, accel):
  port.write(bytes([
    0x9C, motor, 10, accel & 0x7F, (accel >> 7) & 0x7F,
    0x9C, motor, 12, accel & 0x7F, (accel >> 7) & 0x7F]))

def set_max_deceleration(motor, decel):
  port.write(bytes([
    0x9C, motor, 14, decel & 0x7F, (decel >> 7) & 0x7F,
    0x9C, motor, 16, decel & 0x7F, (decel >> 7) & 0x7F]))

def set_speed(motor, speed):
  port.write(bytes([0xD1, motor, speed & 0x7F, (speed >> 7) & 0x7F]))

port.write(bytes([
  # Reset the controller to its default settings using a "Reinitialize" command.
  0x96, 0x74,

  # Disable CRC using a "Set protocol options" command.
  0x8B, 0x04, 0x7B, 0x43,

  # Clear the reset flag using a "Clear latched status flags" command.
  0xA9, 0x00, 0x04,
]))

# By default, the Motoron is configured to stop the motors if it does not get
# a motor control command for 1500 ms.  Uncomment a block of code below to
# adjust this time or disable the timeout feature.

# Change the command timeout using a "Set Variable" command.
# The maximmum timeout allowed is 65000 ms.
# timeout_ms = 10000
# timeout = math.ceil(timeout_ms / 4)
# port.write(bytes([0x9C, 0, 5, timeout & 0x7F, (timeout >> 7) & 0x7F]))

# Disable the command timeout by using a "Set variable" command to clear
# the command timeout bit in the error mask.
# port.write(b'\x9c\x00\x08\x00\x04')

# Configure motor 1
set_max_acceleration(1, 140)
set_max_deceleration(1, 300)

# Configure motor 2
set_max_acceleration(2, 200)
set_max_deceleration(2, 300)

while True:
  if time.ticks_ms() & 2048:
    set_speed(1, 800)
  else:
    set_speed(1, -800)

  set_speed(2, 100)