def basicMotorStart(self, way):
util.traceCall()
if util.getDebug() > 0:
return
if way == self._way[1] or way == 1:
self.basicMotorBackward()
else:
self.basicMotorForward()
def motorStop(self):
util.traceCall()
if util.getDebug() > 0:
return
util.trace("_pwmMotorForward.ChangeDutyCycle to stop")
util.trace("_pwmMotorBackward.ChangeDutyCycle to stop")
self._pwmMotorForward.ChangeDutyCycle(self._stopCycle)
self._pwmMotorBackward.ChangeDutyCycle(self._stopCycle)
def leftMotorSpeed(speed_f, speed_b):
util.trace("lib_motors_evol.leftMotorSpeed with speed_f=" + str(speed_f) + " and speed_b=" + str(speed_b))
if util.getDebug() > 0:
return
if 1 <= speed_f <= speed_max:
pwmMotorLeftForwards.ChangeDutyCycle(DutyCycleLeft * speed_f)
else:
pwmMotorLeftForwards.ChangeDutyCycle(Stop)
if 1 <= speed_b <= speed_max:
pwmMotorLeftBackwards.ChangeDutyCycle(DutyCycleLeft * speed_b)
else:
pwmMotorLeftBackwards.ChangeDutyCycle(Stop)
def motorUpdate(self):
util.traceCall()
if util.getDebug() > 0:
return
if self._curWay == 0:
# forward
util.trace("_pwmMotorForward.ChangeDutyCycle to " +
str(self._dutyCycle * self._curSpeed))
util.trace("_pwmMotorBackward.ChangeDutyCycle to stop")
self._pwmMotorForward.ChangeDutyCycle(self._dutyCycle *
self._curSpeed)
self._pwmMotorBackward.ChangeDutyCycle(self._stopCycle)
else:
# backward
util.trace("_pwmMotorForward.ChangeDutyCycle to stop")
util.trace("_pwmMotorBackward.ChangeDutyCycle to " +
str(self._dutyCycle * self._curSpeed))
self._pwmMotorForward.ChangeDutyCycle(self._stopCycle)
self._pwmMotorBackward.ChangeDutyCycle(self._dutyCycle *
self._curSpeed)
def basicMotorBackward(self):
util.traceCall()
if util.getDebug() > 0:
return
GPIO.output(self._pinForward, 0)
GPIO.output(self._pinBackward, 1)
def stopRightMotor():
util.trace("lib_motors_evol.stopRightMotor")
if util.getDebug() > 0:
return
pwmMotorRightForwards.ChangeDutyCycle(Stop)
pwmMotorRightBackwards.ChangeDutyCycle(Stop)