def setWheelSpeed(self, index, speed):
if index == 0:
speed = -speed
pwm_val = math.fabs(speed) * self.pwm_period
pwm_val = int(pwm_val)
if pwm_val > self.pwm_period:
pwm_val = self.pwm_period
if (speed < 0):
gpio_val = logi_hal.getGPIOVal(GPIO_ADDR)
gpio_val &= ~self.dir_mask[index]
logi_hal.setGPIOVal(GPIO_ADDR, gpio_val)
else:
gpio_val = logi_hal.getGPIOVal(GPIO_ADDR)
gpio_val |= (self.dir_mask[index])
logi_hal.setGPIOVal(GPIO_ADDR, gpio_val)
logi_hal.setPWMPulse(PWM_ADDR, index, pwm_val)
def setWheelSpeed(self, index, speed):
if index == 0:
speed = -speed
pwm_val = math.fabs(speed) * self.pwm_period
pwm_val = int(pwm_val)
if pwm_val > self.pwm_period:
pwm_val = self.pwm_period
if(speed < 0):
gpio_val = logi_hal.getGPIOVal(GPIO_ADDR)
gpio_val &= ~self.dir_mask[index]
logi_hal.setGPIOVal(GPIO_ADDR, gpio_val)
else:
gpio_val = logi_hal.getGPIOVal(GPIO_ADDR)
gpio_val |= (self.dir_mask[index])
logi_hal.setGPIOVal(GPIO_ADDR, gpio_val)
logi_hal.setPWMPulse(PWM_ADDR, index, pwm_val)
import sys
sys.path.append("/home/ubuntu/logi-tools/python/")
import time,math
import logi_hal
gpio_0=0x0000
logi_hal.setGPIODir(gpio_0,0x2)
logi_hal.setGPIOVal(gpio_0,0x2)
#beaglebone下，运行sudo python gpio.py
def __init__(self):
logi_hal.setGPIODir(GPIO_ADDR, 0x0007)
logi_hal.setGPIOVal(GPIO_ADDR, 0x0006)
logi_hal.setPWMDivider(PWM_ADDR, 0x003F)
logi_hal.setPWMPeriod(PWM_ADDR, self.pwm_period)
def __init__(self): logi_hal.setGPIODir(GPIO_ADDR, 0x0007) logi_hal.setGPIOVal(GPIO_ADDR, 0x0006) logi_hal.setPWMDivider(PWM_ADDR, 0x003F) logi_hal.setPWMPeriod(PWM_ADDR, self.pwm_period)
