def motorEnd(self):
util.traceCall()
self.motorStop()
self._nb_instances -= 1
if self._nb_instances == 0:
# Reset the GPIO pins (turn off motors too)
GPIO.cleanup()
def __init__(self, *args):
util.traceCall()
if len(args) == 1 and isinstance(args[0], dict):
self.__dict__ = args[0]
elif len(args) == 3:
name, pinF, pinB = args
self.name = name
self._pinForward = pinF
self._pinBackward = pinB
# Set the GPIO modes
util.trace("set the GPIO mode and the pins " + str(self._pinForward) +
" and " + str(self._pinBackward))
if self._nb_instances == 0:
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(self._pinForward, GPIO.OUT)
GPIO.setup(self._pinBackward, GPIO.OUT)
# Set the GPIO to software PWM at 'Frequency' Hertz
self._pwmMotorForward = GPIO.PWM(self._pinForward, self._frequency)
self._pwmMotorBackward = GPIO.PWM(self._pinBackward, self._frequency)
# Start the software PWM with a duty cycle of 0 (i.e. not moving)
self._pwmMotorForward.start(self._stopCycle)
self._pwmMotorBackward.start(self._stopCycle)
# end of instance initialization
self._nb_instances += 1
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 robotEnd(self):
util.traceCall()
self._wheel_left.motorEnd()
self._wheel_right.motorEnd()
self._nb_instances -= 1
if self._nb_instances == 0:
# nothing
pass
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 setSpeed(self, v):
util.traceCall()
if v <= self.getMaxSpeed():
if self._curSpeed != v:
# apply the new speed
self._curSpeed = v
self.motorUpdate()
else:
util.trace("The speed was already " + v)
else:
util.trace("The speed must be lower than " + self.getMaxSpeed())
def setWay(self, way):
util.traceCall()
if way in self._way:
if self._curWay != way:
# apply the new way
self._curWay = way
self.motorStop()
self.motorUpdate()
else:
util.trace("The way was already " + way)
else:
util.trace("The way must be in " + str(self._way))
def __init__(self, *args):
util.traceCall()
if len(args) == 1 and isinstance(args[0], dict):
self.__dict__ = args[0]
elif len(args) == 3:
name = args
self.name = name
# Define the 2 wheels
util.trace("Define the 2 wheels")
self._wheel_left = motor.Motor("left_wheel", 8, 7)
self._wheel_right = motor.Motor("right_wheel", 10, 9)
# end of instance initialization
self._nb_instances += 1
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 getSpeed(self):
util.traceCall()
return self._curSpeed
def getMaxSpeed(self):
util.traceCall()
return self._maxSpeed[self._curWay]
def turnLeftForward(self):
util.traceCall()
return self._curSpeed
def setWay(self, way):
util.traceCall()
def robotStop(self):
util.traceCall()
self._wheel_left.motorStop()
self._wheel_right.motorStop()
#!/usr/bin/python
# CamJam EduKit 3 - Robotics
# Worksheet 4 - Driving and Turning
#import RPi.GPIO as GPIO # Import the GPIO Library
import time
#import lib_motors_base as base
import motor_class as motor
import lib_util as util
#base.init()
util.setDebug(0)
util.setTrace(1)
util.traceCall()
wheel = motor.Motor("wheel", 8, 7)
wheel.basicMotorStop()
wheel.basicMotorForward()
time.sleep(0.2)
wheel.basicMotorStop()
time.sleep(0.5)
wheel.basicMotorBackward()
time.sleep(0.2)
wheel.basicMotorStop()
time.sleep(0.5)
wheel.motorEnd()
def basicMotorBackward(self):
util.traceCall()
if util.getDebug() > 0:
return
GPIO.output(self._pinForward, 0)
GPIO.output(self._pinBackward, 1)
def moveStraight(self, way, speed):
util.traceCall()
self._wheel_left.setWay(way)
self._wheel_right.setWay(way)
self._wheel_left.setSpeed(speed)
self._wheel_right.setSpeed(speed)