# Motor Driver 
    # Motor driver 
    # by Kai De La Cruz & Kenzie Goldman 1/30/25

    from pyb import Pin, Timer

    class Motor: 
        '''A motor driver interface encapsulated in a Python class.
        Works with motor drivers using seperate PWM and direction inputs such as
        the DRV8838 drivers present on the Romi chassis from Pololu''' 

        def__init__(self, timer_num, chnl , PWM_pin, DIR_pin, nSLP_pin):
            '''Initializes a Motor object''' 
            self.chnl = chnl 
            self.DIR = Pin(DIR_pin, mode=Pin.OUT_PP) 
            self.nSLP = Pin(nSLP_pin, mode=Pin.OUT_PP)
            self.tim = Timer(timer_num,freq=20000) 
            self.PWM = self.tim.channel(self.chnl, Timer.PWM, pin=Pin(PWM_pin))

        def set_effort(self, effort):
            '''Sets the present effort requested from the motor based on an input 
            value between -100 and 100'''
            if effort < 0:
                self.DIR.low()
                self.PWM.pulse_width_percent(-effort)
            else:
                self.DIR.high()
                self.PWM.pulse_width_percent(effort)

        def enable(self):
            '''enables motor driver by taking it out of sleep mode into break 
            mode'''
            self.nSLP.high()

        def disable(self):
            '''disables motor driver by putting it into sleep mode'''
            self.nSLP.low()