#include "motor.h" /***** Methods *****/ MP_DEFINE_CONST_FUN_OBJ_1(Motor___del___obj, Motor___del__); MP_DEFINE_CONST_FUN_OBJ_1(Motor_pins_obj, Motor_pins); MP_DEFINE_CONST_FUN_OBJ_1(Motor_enable_obj, Motor_enable); MP_DEFINE_CONST_FUN_OBJ_1(Motor_disable_obj, Motor_disable); MP_DEFINE_CONST_FUN_OBJ_1(Motor_is_enabled_obj, Motor_is_enabled); MP_DEFINE_CONST_FUN_OBJ_KW(Motor_duty_obj, 1, Motor_duty); MP_DEFINE_CONST_FUN_OBJ_KW(Motor_speed_obj, 1, Motor_speed); MP_DEFINE_CONST_FUN_OBJ_KW(Motor_frequency_obj, 1, Motor_frequency); MP_DEFINE_CONST_FUN_OBJ_1(Motor_stop_obj, Motor_stop); MP_DEFINE_CONST_FUN_OBJ_1(Motor_coast_obj, Motor_coast); MP_DEFINE_CONST_FUN_OBJ_1(Motor_brake_obj, Motor_brake); MP_DEFINE_CONST_FUN_OBJ_1(Motor_full_negative_obj, Motor_full_negative); MP_DEFINE_CONST_FUN_OBJ_1(Motor_full_positive_obj, Motor_full_positive); MP_DEFINE_CONST_FUN_OBJ_KW(Motor_to_percent_obj, 2, Motor_to_percent); MP_DEFINE_CONST_FUN_OBJ_KW(Motor_direction_obj, 1, Motor_direction); MP_DEFINE_CONST_FUN_OBJ_KW(Motor_speed_scale_obj, 1, Motor_speed_scale); MP_DEFINE_CONST_FUN_OBJ_KW(Motor_zeropoint_obj, 1, Motor_zeropoint); MP_DEFINE_CONST_FUN_OBJ_KW(Motor_deadzone_obj, 1, Motor_deadzone); MP_DEFINE_CONST_FUN_OBJ_KW(Motor_decay_mode_obj, 1, Motor_decay_mode); MP_DEFINE_CONST_FUN_OBJ_1(MotorCluster___del___obj, MotorCluster___del__); MP_DEFINE_CONST_FUN_OBJ_1(MotorCluster_count_obj, MotorCluster_count); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_pins_obj, 2, MotorCluster_pins); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_enable_obj, 2, MotorCluster_enable); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_enable_all_obj, 1, MotorCluster_enable_all); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_disable_obj, 2, MotorCluster_disable); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_disable_all_obj, 1, MotorCluster_disable_all); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_is_enabled_obj, 2, MotorCluster_is_enabled); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_duty_obj, 2, MotorCluster_duty); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_all_to_duty_obj, 1, MotorCluster_all_to_duty); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_speed_obj, 2, MotorCluster_speed); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_all_to_speed_obj, 1, MotorCluster_all_to_speed); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_phase_obj, 2, MotorCluster_phase); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_all_to_phase_obj, 1, MotorCluster_all_to_phase); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_frequency_obj, 1, MotorCluster_frequency); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_stop_obj, 2, MotorCluster_stop); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_stop_all_obj, 1, MotorCluster_stop_all); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_coast_obj, 2, MotorCluster_coast); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_coast_all_obj, 1, MotorCluster_coast_all); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_brake_obj, 2, MotorCluster_brake); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_brake_all_obj, 1, MotorCluster_brake_all); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_full_negative_obj, 2, MotorCluster_full_negative); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_all_full_negative_obj, 1, MotorCluster_all_full_negative); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_full_positive_obj, 2, MotorCluster_full_positive); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_all_full_positive_obj, 1, MotorCluster_all_full_positive); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_to_percent_obj, 3, MotorCluster_to_percent); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_all_to_percent_obj, 2, MotorCluster_all_to_percent); MP_DEFINE_CONST_FUN_OBJ_1(MotorCluster_load_obj, MotorCluster_load); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_direction_obj, 2, MotorCluster_direction); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_all_directions_obj, 1, MotorCluster_all_directions); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_speed_scale_obj, 2, MotorCluster_speed_scale); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_all_speed_scales_obj, 1, MotorCluster_all_speed_scales); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_zeropoint_obj, 2, MotorCluster_zeropoint); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_all_zeropoints_obj, 1, MotorCluster_all_zeropoints); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_deadzone_obj, 2, MotorCluster_deadzone); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_all_deadzones_obj, 1, MotorCluster_all_deadzones); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_decay_mode_obj, 2, MotorCluster_decay_mode); MP_DEFINE_CONST_FUN_OBJ_KW(MotorCluster_all_decay_modes_obj, 1, MotorCluster_all_decay_modes); /***** Binding of Methods *****/ STATIC const mp_rom_map_elem_t Motor_locals_dict_table[] = { { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&Motor___del___obj) }, { MP_ROM_QSTR(MP_QSTR_pins), MP_ROM_PTR(&Motor_pins_obj) }, { MP_ROM_QSTR(MP_QSTR_enable), MP_ROM_PTR(&Motor_enable_obj) }, { MP_ROM_QSTR(MP_QSTR_disable), MP_ROM_PTR(&Motor_disable_obj) }, { MP_ROM_QSTR(MP_QSTR_is_enabled), MP_ROM_PTR(&Motor_is_enabled_obj) }, { MP_ROM_QSTR(MP_QSTR_duty), MP_ROM_PTR(&Motor_duty_obj) }, { MP_ROM_QSTR(MP_QSTR_speed), MP_ROM_PTR(&Motor_speed_obj) }, { MP_ROM_QSTR(MP_QSTR_frequency), MP_ROM_PTR(&Motor_frequency_obj) }, { MP_ROM_QSTR(MP_QSTR_stop), MP_ROM_PTR(&Motor_stop_obj) }, { MP_ROM_QSTR(MP_QSTR_coast), MP_ROM_PTR(&Motor_coast_obj) }, { MP_ROM_QSTR(MP_QSTR_brake), MP_ROM_PTR(&Motor_brake_obj) }, { MP_ROM_QSTR(MP_QSTR_full_negative), MP_ROM_PTR(&Motor_full_negative_obj) }, { MP_ROM_QSTR(MP_QSTR_full_positive), MP_ROM_PTR(&Motor_full_positive_obj) }, { MP_ROM_QSTR(MP_QSTR_to_percent), MP_ROM_PTR(&Motor_to_percent_obj) }, { MP_ROM_QSTR(MP_QSTR_direction), MP_ROM_PTR(&Motor_direction_obj) }, { MP_ROM_QSTR(MP_QSTR_speed_scale), MP_ROM_PTR(&Motor_speed_scale_obj) }, { MP_ROM_QSTR(MP_QSTR_zeropoint), MP_ROM_PTR(&Motor_zeropoint_obj) }, { MP_ROM_QSTR(MP_QSTR_deadzone), MP_ROM_PTR(&Motor_deadzone_obj) }, { MP_ROM_QSTR(MP_QSTR_decay_mode), MP_ROM_PTR(&Motor_decay_mode_obj) }, }; STATIC const mp_rom_map_elem_t MotorCluster_locals_dict_table[] = { { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&MotorCluster___del___obj) }, { MP_ROM_QSTR(MP_QSTR_count), MP_ROM_PTR(&MotorCluster_count_obj) }, { MP_ROM_QSTR(MP_QSTR_pins), MP_ROM_PTR(&MotorCluster_pins_obj) }, { MP_ROM_QSTR(MP_QSTR_enable), MP_ROM_PTR(&MotorCluster_enable_obj) }, { MP_ROM_QSTR(MP_QSTR_enable_all), MP_ROM_PTR(&MotorCluster_enable_all_obj) }, { MP_ROM_QSTR(MP_QSTR_disable), MP_ROM_PTR(&MotorCluster_disable_obj) }, { MP_ROM_QSTR(MP_QSTR_disable_all), MP_ROM_PTR(&MotorCluster_disable_all_obj) }, { MP_ROM_QSTR(MP_QSTR_is_enabled), MP_ROM_PTR(&MotorCluster_is_enabled_obj) }, { MP_ROM_QSTR(MP_QSTR_duty), MP_ROM_PTR(&MotorCluster_duty_obj) }, { MP_ROM_QSTR(MP_QSTR_all_to_duty), MP_ROM_PTR(&MotorCluster_all_to_duty_obj) }, { MP_ROM_QSTR(MP_QSTR_speed), MP_ROM_PTR(&MotorCluster_speed_obj) }, { MP_ROM_QSTR(MP_QSTR_all_to_speed), MP_ROM_PTR(&MotorCluster_all_to_speed_obj) }, { MP_ROM_QSTR(MP_QSTR_phase), MP_ROM_PTR(&MotorCluster_phase_obj) }, { MP_ROM_QSTR(MP_QSTR_all_to_phase), MP_ROM_PTR(&MotorCluster_all_to_phase_obj) }, { MP_ROM_QSTR(MP_QSTR_frequency), MP_ROM_PTR(&MotorCluster_frequency_obj) }, { MP_ROM_QSTR(MP_QSTR_stop), MP_ROM_PTR(&MotorCluster_stop_obj) }, { MP_ROM_QSTR(MP_QSTR_stop_all), MP_ROM_PTR(&MotorCluster_stop_all_obj) }, { MP_ROM_QSTR(MP_QSTR_coast), MP_ROM_PTR(&MotorCluster_coast_obj) }, { MP_ROM_QSTR(MP_QSTR_coast_all), MP_ROM_PTR(&MotorCluster_coast_all_obj) }, { MP_ROM_QSTR(MP_QSTR_brake), MP_ROM_PTR(&MotorCluster_brake_obj) }, { MP_ROM_QSTR(MP_QSTR_brake_all), MP_ROM_PTR(&MotorCluster_brake_all_obj) }, { MP_ROM_QSTR(MP_QSTR_full_negative), MP_ROM_PTR(&MotorCluster_full_negative_obj) }, { MP_ROM_QSTR(MP_QSTR_all_full_negative), MP_ROM_PTR(&MotorCluster_all_full_negative_obj) }, { MP_ROM_QSTR(MP_QSTR_full_positive), MP_ROM_PTR(&MotorCluster_full_positive_obj) }, { MP_ROM_QSTR(MP_QSTR_all_full_positive), MP_ROM_PTR(&MotorCluster_all_full_positive_obj) }, { MP_ROM_QSTR(MP_QSTR_to_percent), MP_ROM_PTR(&MotorCluster_to_percent_obj) }, { MP_ROM_QSTR(MP_QSTR_all_to_percent), MP_ROM_PTR(&MotorCluster_all_to_percent_obj) }, { MP_ROM_QSTR(MP_QSTR_load), MP_ROM_PTR(&MotorCluster_load_obj) }, { MP_ROM_QSTR(MP_QSTR_direction), MP_ROM_PTR(&MotorCluster_direction_obj) }, { MP_ROM_QSTR(MP_QSTR_all_directions), MP_ROM_PTR(&MotorCluster_all_directions_obj) }, { MP_ROM_QSTR(MP_QSTR_speed_scale), MP_ROM_PTR(&MotorCluster_speed_scale_obj) }, { MP_ROM_QSTR(MP_QSTR_all_speed_scales), MP_ROM_PTR(&MotorCluster_all_speed_scales_obj) }, { MP_ROM_QSTR(MP_QSTR_zeropoint), MP_ROM_PTR(&MotorCluster_zeropoint_obj) }, { MP_ROM_QSTR(MP_QSTR_all_zeropoints), MP_ROM_PTR(&MotorCluster_all_zeropoints_obj) }, { MP_ROM_QSTR(MP_QSTR_deadzone), MP_ROM_PTR(&MotorCluster_deadzone_obj) }, { MP_ROM_QSTR(MP_QSTR_all_deadzones), MP_ROM_PTR(&MotorCluster_all_deadzones_obj) }, { MP_ROM_QSTR(MP_QSTR_decay_mode), MP_ROM_PTR(&MotorCluster_decay_mode_obj) }, { MP_ROM_QSTR(MP_QSTR_all_decay_modes), MP_ROM_PTR(&MotorCluster_all_decay_modes_obj) }, }; STATIC MP_DEFINE_CONST_DICT(Motor_locals_dict, Motor_locals_dict_table); STATIC MP_DEFINE_CONST_DICT(MotorCluster_locals_dict, MotorCluster_locals_dict_table); /***** Class Definition *****/ const mp_obj_type_t Motor_type = { { &mp_type_type }, .name = MP_QSTR_motor, .print = Motor_print, .make_new = Motor_make_new, .locals_dict = (mp_obj_dict_t*)&Motor_locals_dict, }; const mp_obj_type_t MotorCluster_type = { { &mp_type_type }, .name = MP_QSTR_motor_cluster, .print = MotorCluster_print, .make_new = MotorCluster_make_new, .locals_dict = (mp_obj_dict_t*)&MotorCluster_locals_dict, }; /***** Module Constants *****/ const mp_rom_obj_tuple_t pico_motor_shim_motor1_pins = { {&mp_type_tuple}, 2, { MP_ROM_INT(6), MP_ROM_INT(7), }, }; const mp_rom_obj_tuple_t pico_motor_shim_motor2_pins = { {&mp_type_tuple}, 2, { MP_ROM_INT(27), MP_ROM_INT(26), }, }; const mp_rom_obj_tuple_t motor2040_motorA_pins = { {&mp_type_tuple}, 2, { MP_ROM_INT(4), MP_ROM_INT(5) }, }; const mp_rom_obj_tuple_t motor2040_motorB_pins = { {&mp_type_tuple}, 2, { MP_ROM_INT(6), MP_ROM_INT(7) }, }; const mp_rom_obj_tuple_t motor2040_motorC_pins = { {&mp_type_tuple}, 2, { MP_ROM_INT(8), MP_ROM_INT(9) }, }; const mp_rom_obj_tuple_t motor2040_motorD_pins = { {&mp_type_tuple}, 2, { MP_ROM_INT(10), MP_ROM_INT(11) }, }; const mp_rom_obj_tuple_t motor2040_encoderA_pins = { {&mp_type_tuple}, 2, { MP_ROM_INT(1), MP_ROM_INT(0) }, }; const mp_rom_obj_tuple_t motor2040_encoderB_pins = { {&mp_type_tuple}, 2, { MP_ROM_INT(3), MP_ROM_INT(2) }, }; const mp_rom_obj_tuple_t motor2040_encoderC_pins = { {&mp_type_tuple}, 2, { MP_ROM_INT(13), MP_ROM_INT(12) }, }; const mp_rom_obj_tuple_t motor2040_encoderD_pins = { {&mp_type_tuple}, 2, { MP_ROM_INT(15), MP_ROM_INT(14) }, }; typedef struct _mp_obj_float_t { mp_obj_base_t base; mp_float_t value; } mp_obj_float_t; mp_obj_float_t motor2040_shunt_resistor = {{&mp_type_float}, 0.47f}; mp_obj_float_t motor2040_voltage_gain = {{&mp_type_float}, 3.9f / 13.9f}; mp_obj_float_t motor2040_current_offset = {{&mp_type_float}, -0.005f}; /***** Globals Table *****/ STATIC const mp_rom_map_elem_t pico_motor_shim_globals_table[] = { { MP_OBJ_NEW_QSTR(MP_QSTR___name__), MP_OBJ_NEW_QSTR(MP_QSTR_pico_motor_shim) }, { MP_ROM_QSTR(MP_QSTR_BUTTON_A), MP_ROM_INT(2) }, { MP_ROM_QSTR(MP_QSTR_MOTOR_1), MP_ROM_PTR(&pico_motor_shim_motor1_pins) }, { MP_ROM_QSTR(MP_QSTR_MOTOR_2), MP_ROM_PTR(&pico_motor_shim_motor2_pins) }, { MP_ROM_QSTR(MP_QSTR_NUM_MOTORS), MP_ROM_INT(2) }, { MP_ROM_QSTR(MP_QSTR_SDA), MP_ROM_INT(4) }, { MP_ROM_QSTR(MP_QSTR_SCL), MP_ROM_INT(5) }, }; STATIC const mp_rom_map_elem_t motor2040_globals_table[] = { { MP_OBJ_NEW_QSTR(MP_QSTR___name__), MP_OBJ_NEW_QSTR(MP_QSTR_motor2040) }, { MP_ROM_QSTR(MP_QSTR_MOTOR_A), MP_ROM_PTR(&motor2040_motorA_pins) }, { MP_ROM_QSTR(MP_QSTR_MOTOR_B), MP_ROM_PTR(&motor2040_motorB_pins) }, { MP_ROM_QSTR(MP_QSTR_MOTOR_C), MP_ROM_PTR(&motor2040_motorC_pins) }, { MP_ROM_QSTR(MP_QSTR_MOTOR_D), MP_ROM_PTR(&motor2040_motorD_pins) }, { MP_ROM_QSTR(MP_QSTR_NUM_MOTORS), MP_ROM_INT(4) }, { MP_ROM_QSTR(MP_QSTR_ENCODER_A), MP_ROM_PTR(&motor2040_encoderA_pins) }, { MP_ROM_QSTR(MP_QSTR_ENCODER_B), MP_ROM_PTR(&motor2040_encoderB_pins) }, { MP_ROM_QSTR(MP_QSTR_ENCODER_C), MP_ROM_PTR(&motor2040_encoderC_pins) }, { MP_ROM_QSTR(MP_QSTR_ENCODER_D), MP_ROM_PTR(&motor2040_encoderD_pins) }, { MP_ROM_QSTR(MP_QSTR_NUM_ENCODERS), MP_ROM_INT(4) }, { MP_ROM_QSTR(MP_QSTR_TX_TRIG), MP_ROM_INT(16) }, { MP_ROM_QSTR(MP_QSTR_RX_ECHO), MP_ROM_INT(17) }, { MP_ROM_QSTR(MP_QSTR_LED_DATA), MP_ROM_INT(18) }, { MP_ROM_QSTR(MP_QSTR_NUM_LEDS), MP_ROM_INT(1) }, { MP_ROM_QSTR(MP_QSTR_INT), MP_ROM_INT(19) }, { MP_ROM_QSTR(MP_QSTR_SDA), MP_ROM_INT(20) }, { MP_ROM_QSTR(MP_QSTR_SCL), MP_ROM_INT(21) }, { MP_ROM_QSTR(MP_QSTR_USER_SW), MP_ROM_INT(23) }, { MP_ROM_QSTR(MP_QSTR_ADC_ADDR_0), MP_ROM_INT(22) }, { MP_ROM_QSTR(MP_QSTR_ADC_ADDR_1), MP_ROM_INT(24) }, { MP_ROM_QSTR(MP_QSTR_ADC_ADDR_2), MP_ROM_INT(25) }, { MP_ROM_QSTR(MP_QSTR_ADC0), MP_ROM_INT(26) }, { MP_ROM_QSTR(MP_QSTR_ADC1), MP_ROM_INT(27) }, { MP_ROM_QSTR(MP_QSTR_ADC2), MP_ROM_INT(28) }, { MP_ROM_QSTR(MP_QSTR_SHARED_ADC), MP_ROM_INT(29) }, { MP_ROM_QSTR(MP_QSTR_CURRENT_SENSE_A_ADDR), MP_ROM_INT(0b000) }, { MP_ROM_QSTR(MP_QSTR_CURRENT_SENSE_B_ADDR), MP_ROM_INT(0b001) }, { MP_ROM_QSTR(MP_QSTR_CURRENT_SENSE_C_ADDR), MP_ROM_INT(0b010) }, { MP_ROM_QSTR(MP_QSTR_CURRENT_SENSE_D_ADDR), MP_ROM_INT(0b011) }, { MP_ROM_QSTR(MP_QSTR_VOLTAGE_SENSE_ADDR), MP_ROM_INT(0b100) }, { MP_ROM_QSTR(MP_QSTR_FAULT_SENSE_ADDR), MP_ROM_INT(0b101) }, { MP_ROM_QSTR(MP_QSTR_SENSOR_1_ADDR), MP_ROM_INT(0b110) }, { MP_ROM_QSTR(MP_QSTR_SENSOR_2_ADDR), MP_ROM_INT(0b111) }, { MP_ROM_QSTR(MP_QSTR_NUM_SENSORS), MP_ROM_INT(2) }, { MP_ROM_QSTR(MP_QSTR_SHUNT_RESISTOR), MP_ROM_PTR(&motor2040_shunt_resistor) }, { MP_ROM_QSTR(MP_QSTR_CURRENT_GAIN), MP_ROM_INT(1) }, { MP_ROM_QSTR(MP_QSTR_VOLTAGE_GAIN), MP_ROM_PTR(&motor2040_voltage_gain) }, { MP_ROM_QSTR(MP_QSTR_CURRENT_OFFSET), MP_ROM_PTR(&motor2040_current_offset) }, }; STATIC MP_DEFINE_CONST_DICT(mp_module_pico_motor_shim_globals, pico_motor_shim_globals_table); STATIC MP_DEFINE_CONST_DICT(mp_module_motor2040_globals, motor2040_globals_table); const mp_obj_module_t pico_motor_shim_user_cmodule = { .base = { &mp_type_module }, .globals = (mp_obj_dict_t*)&mp_module_pico_motor_shim_globals, }; const mp_obj_module_t motor2040_user_cmodule = { .base = { &mp_type_module }, .globals = (mp_obj_dict_t*)&mp_module_motor2040_globals, }; STATIC const mp_map_elem_t motor_globals_table[] = { { MP_OBJ_NEW_QSTR(MP_QSTR___name__), MP_OBJ_NEW_QSTR(MP_QSTR_motor) }, { MP_OBJ_NEW_QSTR(MP_QSTR_Motor), (mp_obj_t)&Motor_type }, { MP_OBJ_NEW_QSTR(MP_QSTR_MotorCluster), (mp_obj_t)&MotorCluster_type }, { MP_OBJ_NEW_QSTR(MP_QSTR_pico_motor_shim), (mp_obj_t)&pico_motor_shim_user_cmodule }, { MP_OBJ_NEW_QSTR(MP_QSTR_motor2040), (mp_obj_t)&motor2040_user_cmodule }, { MP_ROM_QSTR(MP_QSTR_FAST_DECAY), MP_ROM_INT(0x00) }, { MP_ROM_QSTR(MP_QSTR_SLOW_DECAY), MP_ROM_INT(0x01) }, }; STATIC MP_DEFINE_CONST_DICT(mp_module_motor_globals, motor_globals_table); /***** Module Definition *****/ const mp_obj_module_t motor_user_cmodule = { .base = { &mp_type_module }, .globals = (mp_obj_dict_t*)&mp_module_motor_globals, }; MP_REGISTER_MODULE(MP_QSTR_motor, motor_user_cmodule, MODULE_MOTOR_ENABLED);