def servo_init():
global p
GPIO_NO = 6
GPIO.setmode(GPIO.BCM)
GPIO.setup(GPIO_NO,GPIO.OUT)
p = GPIO.PWM(GPIO_NO,50) #sets pin 21 to PWM and sends 50 signals per second
p.start(7.5) #starts by sending a pulse at 7.5% to center the servo
def wait_BCM_initalized(self):
if False == RMS.bcm_initialized_from_other:
print("BCM has not initialized yet")
time.sleep(1)
return
#GPIO.setwarnings(False)
#GPIO.setmode(GPIO.BCM)
#GPIO.cleanup()
print "Distance Measurement In Progress"
GPIO.setup(self.TRIG,GPIO.OUT)
GPIO.setup(self.ECHO,GPIO.IN)
def test_left_wheel():
M1A_ENABLE_GPIO = 14
M1A_INPUT1_GPIO = 23
M1A_INPUT2_GPIO = 24
# initialize GPIO
#front - left
GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT)
GPIO.output(M1A_INPUT1_GPIO, True)
GPIO.output(M1A_INPUT2_GPIO, False)
GPIO.output(M1A_ENABLE_GPIO, True)
time.sleep(1)
GPIO.output(M1A_ENABLE_GPIO, False)
GPIO.output(M1A_INPUT1_GPIO, False)
GPIO.output(M1A_INPUT2_GPIO, True)
GPIO.output(M1A_ENABLE_GPIO, True)
time.sleep(2)
# stop
GPIO.output(M1A_INPUT1_GPIO, False)
GPIO.output(M1A_INPUT2_GPIO, False)
def front_test_right_wheel(dir, enable):
M2A_ENABLE_GPIO = 4
M2A_INPUT1_GPIO = 11
M2A_INPUT2_GPIO = 10
#front - right
GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT)
if dir == FORWARD:
GPIO.output(M2A_INPUT1_GPIO, True)
GPIO.output(M2A_INPUT2_GPIO, False)
else:
GPIO.output(M2A_INPUT1_GPIO, False)
GPIO.output(M2A_INPUT2_GPIO, True)
if enable == True:
GPIO.output(M2A_ENABLE_GPIO, True)
else:
GPIO.output(M2A_ENABLE_GPIO, False)
def rear_test_left_wheel(dir, enable):
M2A_ENABLE_GPIO = 14
M2A_INPUT1_GPIO = 23
M2A_INPUT2_GPIO = 24
#front - right
GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT)
if dir == FORWARD:
GPIO.output(M2A_INPUT1_GPIO, True)
GPIO.output(M2A_INPUT2_GPIO, False)
else:
GPIO.output(M2A_INPUT1_GPIO, False)
GPIO.output(M2A_INPUT2_GPIO, True)
if enable == True:
GPIO.output(M2A_ENABLE_GPIO, True)
else:
GPIO.output(M2A_ENABLE_GPIO, False)
def test_wheel():
M1A_ENABLE_GPIO = 14
M1A_INPUT1_GPIO = 23
M1A_INPUT2_GPIO =24
GPIO.setmode(10)
GPIO.setmode(GPIO.BCM)
#front - left
GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT)
GPIO.output(M1A_INPUT1_GPIO, True)
GPIO.output(M1A_INPUT2_GPIO, False)
time.sleep(2)
# stop
GPIO.output(M1A_INPUT1_GPIO, False)
GPIO.output(M1A_INPUT2_GPIO, False)
def port_init():
GPIO.setmode(10)
GPIO.setmode(GPIO.BCM)
# front - left
GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT)
#pwm = GPIO.PWM(M1A_ENABLE_GPIO, 500)
#pwm.start(0)
# front - right
GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT)
# rear - left
GPIO.setup(M3A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M3A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M3A_INPUT2_GPIO, GPIO.OUT)
# rear - right
GPIO.setup(M4A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M4A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M4A_INPUT2_GPIO, GPIO.OUT)
def motor_gpio_init():
# initialize GPIO
# front - left
GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT)
# pwm = GPIO.PWM(M1A_ENABLE_GPIO, 500)
# pwm.start(0)
# front - right
GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT)
# rear - left
GPIO.setup(M3A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M3A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M3A_INPUT2_GPIO, GPIO.OUT)
# rear - right
GPIO.setup(M4A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M4A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M4A_INPUT2_GPIO, GPIO.OUT)
def test_pwm(speed):
#define GPIO for controlling
#front
# front - left
GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT)
# front - right
GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT)
GPIO.output(M1A_ENABLE_GPIO,True)
pwm1 = GPIO.PWM(M1A_ENABLE_GPIO, 10) # freq 10Hz
pwm1.start(0) # start with zero duty cycle
GPIO.output(M1A_ENABLE_GPIO, True)
pwm2 = GPIO.PWM(M2A_ENABLE_GPIO, 10) # duty cycle 0 - 100 %
pwm2.start(0)
for x in range(1, 10):
print "duty cycle =", x * 10, "%"
pwm1.ChangeDutyCycle(x * 10)
pwm2.ChangeDutyCycle(x * 10)
time.sleep(1)
def port_init():
# initialize GPIO
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.cleanup()
# front - left
GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT)
# pwm = GPIO.PWM(M1A_ENABLE_GPIO, 500)
# pwm.start(0)
# front - right
GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT)
# rear - left
GPIO.setup(M3A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M3A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M3A_INPUT2_GPIO, GPIO.OUT)
# rear - right
GPIO.setup(M4A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M4A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M4A_INPUT2_GPIO, GPIO.OUT)
def test_pwm():
#define GPIO for controlling
#front
M1A_ENABLE_GPIO = 18
M1A_INPUT1_GPIO = 23
M1A_INPUT2_GPIO =24
M2A_ENABLE_GPIO = 18
M2A_INPUT1_GPIO = 23
M2A_INPUT2_GPIO =24
#rear
M1A_ENABLE_GPIO = 18
M1A_INPUT1_GPIO = 23
M1A_INPUT2_GPIO =24
GPIO.setmode(10)
GPIO.setmode(GPIO.BCM)
#front - left
GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT)
pwm = GPIO.PWM(M1A_ENABLE_GPIO, 500)
pwm.start(0)
#front - right
GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT)
pwm = GPIO.PWM(M2A_ENABLE_GPIO, 500)
pwm.start(0)
def motor_gpio_init():
# initialize GPIO
# front - left
GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT)
# pwm = GPIO.PWM(M1A_ENABLE_GPIO, 500)
# pwm.start(0)
# front - right
GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT)
# rear - left
GPIO.setup(M3A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M3A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M3A_INPUT2_GPIO, GPIO.OUT)
# rear - right
GPIO.setup(M4A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M4A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M4A_INPUT2_GPIO, GPIO.OUT)
def test_pwm(speed):
#define GPIO for controlling
#front
#front - left
GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT)
#front - right
GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT)
GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT)
GPIO.output(M1A_ENABLE_GPIO,True)
pwm1 = GPIO.PWM(M1A_ENABLE_GPIO, 10)
pwm1.start(0)
pwm2 = GPIO.PWM(M2A_ENABLE_GPIO, 10)
pwm2.start(0)
for x in range(1,10):
pwm1.ChangeDutyCycle(x * 10)
pwm2.ChangeDutyCycle(x * 10)
time.sleep(1)
