def pwm_init (channel) :
# Set channel for brushed and start motor
global inited
global board
if (board == -1) :
return
if inited == 0 :
gb.open_uart(0)
version = gb.get_version(board)
print("Board version {}".format(version))
inited = 1
gb.set_mode(board,channel,gb.MODE_BRUSH)
gb.move_brushed(board,channel,gb.MOVE_B)
def stopMotor(self, motorId):
gb.move_brushed(BOARD, motorId, STOP) # Left stop
def runMotor(self, motorId, direction, speed=1, freq=DEFAULT_PWM_FREQ):
gb.pwm_brushed(BOARD, motorId, freq, 70 + speed * 10)
gb.move_brushed(BOARD, motorId, direction)
dsep = binascii.b2a_hex(ser.read()).decode('utf-8')
if dsep == 'a1':
dtyp = binascii.b2a_hex(ser.read()).decode('utf-8')
if dtyp == '07':
for i in range(len(btn)):
btn[i] = 0
for i in range(len(btn)):
dbtn = int(
binascii.b2a_hex(ser.read()).decode('utf-8'), 16)
if dbtn == 0 or dbtn == 1 or dbtn == 2 or dbtn == 3:
btn[dbtn] = 1
# Stop/Up/Down
if btn[0] == 0 and btn[1] == 0:
print('Stop')
ard.write(str(2).encode()) # green cycle
gb.move_brushed(BOARD_A, BRS_A, STOP)
elif btn[0] == 0 and btn[1] == 1:
print('Up')
ard.write(str(0).encode()) # red cycle
gb.move_brushed(BOARD_A, BRS_A, FORWD)
elif btn[0] == 1 and btn[1] == 0:
print('Down')
ard.write(str(1).encode()) # yellow cycle
gb.move_brushed(BOARD_A, BRS_A, BACKW)
#print('[A B C D : X Y] = [' + str(btn[0]) + ' ' + str(btn[1]) + ' ' + str(btn[2]) + ' ' + str(btn[3]) + ' : ' + str(dxax) + ' ' + str(dyax)+ ']')
elif dtyp == '08':
dyax_old = dyax
dxax_old = dxax
val = ser.read()
dyax = -int(binascii.b2a_hex(ser.read()).decode('utf-8'), 16)
if dyax <= -128:
screen.addstr(" 1 2 3 \n")
screen.addstr(" Reverse \n")
screen.addstr("Left Both Right\n")
screen.addstr("Don't forget to set numlock on!!!!\n")
screen.addstr("Use Q or q to quit\n")
screen.addstr("\n")
run = 1
while run==1 :
key = screen.getch() # Key?
if key==ord('q') :
run = 0 # stop running
if key==ord('1') :
gb.move_brushed(BOARD,LEFT,BACKW) # Left backwards
if key==ord('2') :
gb.move_brushed(BOARD,LEFT,BACKW) # Left backwards
gb.move_brushed(BOARD,RIGHT,BACKW) # Right backwards
if key==ord('3') :
gb.move_brushed(BOARD,RIGHT,BACKW) # Right backwards
if key==ord('4') :
gb.move_brushed(BOARD,LEFT,STOP) # Left stop
if key==ord('5') :
gb.move_brushed(BOARD,LEFT,STOP) # Left stop
gb.move_brushed(BOARD,RIGHT,STOP) # Right stop
def pwm_init (channel) : # Set channel for brushed and start motor gb.set_mode(board,channel,gb.MODE_BRUSH) gb.move_brushed(board,channel,gb.MOVE_B)
