def left_turn(speed, running_time):
setup.rightmotor(setup.forward0)
GPIO.output(setup.Motor_Right_PWM, GPIO.HIGH)
GPIO.output(setup.Motor_Left_PWM, GPIO.LOW)
setup.Right_Pwm.ChangeDutyCycle(speed)
setup.Left_Pwm.ChangeDutyCycle(0)
time.sleep(running_time)
def go_forward(speed):
''' move forward
speed is motor move speed(0~100)'''
# set left and right motor to move forward
setup.leftmotor(setup.forward0)
setup.rightmotor(setup.forward0)
# set speed of motors to move forward
setup.Left_Pwm.ChangeDutyCycle(speed)
setup.Right_Pwm.ChangeDutyCycle(speed)
def go_forward_any(speed):
setup.leftmotor(setup.forward0)
GPIO.output(setup.Motor_Left_PWM, GPIO.HIGH)
setup.rightmotor(setup.forward0)
GPIO.output(setup.Motor_Right_PWM, GPIO.HIGH)
setup.Left_Pwm.ChangeDutyCycle(speed)
setup.Right_Pwm.ChangeDutyCycle(speed)
def go_forward_any(speed):
setup.leftmotor(forward0)
GPIO.output(MotorLeft_PWM, GPIO.HIGH)
setup.rightmotor(forward0)
GPIO.output(MotorRight_PWM, GPIO.HIGH)
LeftPwm.ChangeDutyCycle(speed)
RightPwm.ChangeDutyCycle(speed)
def go_forward(speed, running_time):
setup.leftmotor(setup.forward0)
GPIO.output(setup.Motor_Left_PWM, GPIO.HIGH)
setup.rightmotor(setup.forward0)
GPIO.output(setup.Motor_Right_PWM, GPIO.HIGH)
setup.Left_Pwm.ChangeDutyCycle(speed)
setup.Right_Pwm.ChangeDutyCycle(speed)
time.sleep(running_time)
stop()
def go_forward(speed, running_time):
setup.leftmotor(forward0)
GPIO.output(MotorLeft_PWM, GPIO.HIGH)
setup.rightmotor(forward0)
GPIO.output(MotorRight_PWM, GPIO.HIGH)
LeftPwm.ChangeDutyCycle(speed)
RightPwm.ChangeDutyCycle(speed)
time.sleep(running_time)
stop()
def rightRoundTurn(speed_high, speed_low):
setup.rightmotor(setup.forward0)
setup.leftmotor(setup.forward0)
GPIO.output(setup.Motor_Left_PWM,GPIO.HIGH)
GPIO.output(setup.Motor_Right_PWM,GPIO.HIGH)
setup.Left_Pwm.ChangeDutyCycle(speed_low)
setup.Right_Pwm.ChangeDutyCycle(speed_high)
def right_turn2(speed, running_time):
'''Move the left wheel forward and Turn the right wheel backward to right turn
speed is turn speed
running_time is the time the wheels move'''
# set the left motor and pwm to move forward
setup.leftmotor(setup.forward0)
GPIO.output(setup.Motor_Left_PWM,GPIO.HIGH)
# set the right motor and pwm to move backward
setup.rightmotor(setup.backward0)
GPIO.output(setup.Motor_Right_PWM,GPIO.LOW)
# set the speed of the left and right motor
setup.Left_Pwm.ChangeDutyCycle(speed)
setup.Right_Pwm.ChangeDutyCycle(speed)
# set the running time of the motors to move
time.sleep(running_time)
def leftSwingTurn(speed, running_time):
# set the left motor pwm to be ready to stop
# Turn Off Left PWM
GPIO.output(setup.Motor_Left_PWM, GPIO.LOW)
# set the right motor to go fowrard
setup.rightmotor(setup.forward0)
# set the right motor pwm to be ready to go forward
GPIO.output(setup.Motor_Right_PWM, GPIO.HIGH)
# set the speed of the left motor to stop
setup.Left_Pwm.ChangeDutyCycle(0)
# set the speed of the right motor to go fowrard
setup.Right_Pwm.ChangeDutyCycle(speed)
# set the running time of the right motor to go fowrard
time.sleep(running_time)
def rightRoundTurn(speed_high, speed_low):
# set the right motor to go fowrard
setup.rightmotor(setup.forward0)
# set the left motor to go fowrard
setup.leftmotor(setup.forward0)
# set the left motor pwm to be ready to go forward
GPIO.output(setup.Motor_Left_PWM, GPIO.HIGH)
# set the right motor pwm to be ready to stop
# Turn Off Right PWM
GPIO.output(setup.Motor_Right_PWM, GPIO.HIGH)
# set the speed of the left motor to go fowrard
setup.Left_Pwm.ChangeDutyCycle(speed_low)
# set the speed of the right motor to stop
setup.Right_Pwm.ChangeDutyCycle(speed_high)
def left_turn(speed, running_time):
'''Only the right wheel move forward to left turn
speed is turn speed
running_time is the time the wheel move'''
# set the left motor pwm to be ready to stop
# Turn Off Left PWM
GPIO.output(setup.Motor_Left_PWM,GPIO.LOW)
# set the right motor to go fowrard
setup.rightmotor(setup.forward0)
# set the right motor pwm to be ready to go forward
GPIO.output(setup.Motor_Right_PWM,GPIO.HIGH)
# set the speed of the left motor to stop
setup.Left_Pwm.ChangeDutyCycle(0)
# set the speed of the right motor to go fowrard
setup.Right_Pwm.ChangeDutyCycle(speed)
# set the running time of the right motor to go fowrard
time.sleep(running_time)
def go_forward(speed):
setup.leftmotor(setup.forward0)
setup.rightmotor(setup.forward0)
setup.Left_Pwm.ChangeDutyCycle(speed)
setup.Right_Pwm.ChangeDutyCycle(speed)
