def __init__(self, MotorE, MotorA, MotorB, servo_pin, trigger, echo,green,yellow,red,distance_timer):
GPIO.setwarnings(False)
self.distance_timer = distance_timer
self.dcmotor = DCMotor(MotorE, MotorA, MotorB)
self.servomotor = ServoMotor(servo_pin)
self.distancesensor = DistanceSensor(trigger,echo)
self.green = green
self.yellow = yellow
self.red = red
GPIO.setup(self.green,GPIO.OUT)
GPIO.setup(self.yellow,GPIO.OUT)
GPIO.setup(self.red,GPIO.OUT)
# Complete project details at https://RandomNerdTutorials.com from dcmotor import DCMotor from machine import Pin, PWM from time import sleep frequency = 15000 pin1 = Pin(12, Pin.OUT) pin2 = Pin(14, Pin.OUT) enable = PWM(Pin(13), frequency) dc_motor = DCMotor(pin1, pin2, enable, 350, 1023) dc_motor.forward(50) sleep(2) dc_motor.stop() sleep(3) dc_motor.backwards(100) sleep(2) dc_motor.forward(5) sleep(5) dc_motor.stop()
# Complete project details at https://RandomNerdTutorials.com from dcmotor import DCMotor from machine import Pin, PWM from time import sleep frequency = 15000 pin1 = Pin(12, Pin.OUT) pin2 = Pin(14, Pin.OUT) enable = PWM(Pin(13), frequency) dc_motor = DCMotor(pin1, pin2, enable) #Set min duty cycle (350) and max duty cycle (1023) #dc_motor = DCMotor(pin1, pin2, enable, 350, 1023) dc_motor.forward(50) sleep(2) dc_motor.stop() sleep(3) dc_motor.backwards(100) sleep(2) dc_motor.forward(5) sleep(5) dc_motor.stop()
frequency = 15000
"""
#define ENAR 14 --> Enable/speed motors Right GPIO14(D5)
#define ENBL 12 --> Enable/speed motors Left GPIO12(D6)
#define pin1 15 --> L298N in1 motors Right GPIO15(D8)
#define pin2 13 --> L298N in2 motors Right GPIO13(D7)
#define pin3 2 --> L298N in3 motors Left GPIO2(D4)
#define pin4 0 --> L298N in4 motors Left GPIO0(D3)
"""
pin1 = Pin(15, Pin.OUT)
pin2 = Pin(13, Pin.OUT)
enableFB = PWM(Pin(14), frequency)
dc_motorFB = DCMotor(pin1, pin2, enableFB, 350, 1023)
enableRL = PWM(Pin(12), frequency)
pin3 = Pin(2, Pin.OUT)
pin4 = Pin(0, Pin.OUT)
dc_motorRL = DCMotor(pin3, pin4, enableRL, 350, 1023)
def cont(y, x, s):
print('h,v,s=', y, x, s)
r = 1023 / (2 ** .5)
if (-r < x and x < r and y > 0): # forward
dc_motorFB.forward(s)
dc_motorRL.stop()
print("forword")
def __init__(self, pinVelL, pinDirL, pinVelD, pinDirD):
self.name = 'L9110URA'
self.motorLeft = DCMotor(pinVelL, pinDirL)
self.motorRight = DCMotor(pinVelD, pinDirD)
from dcmotor import DCMotor from time import sleep motor = DCMotor(20, 21, pwmPin=16) motor.forward(0.2) sleep(1) motor.backward(0.2) sleep(1) motor.stop()
import socket
import gc
from dcmotor import DCMotor
from machine import Pin, Signal, PWM
gc.collect()
ledLight = Signal(Pin(2, Pin.OUT), invert=True) # GPIO2 ( D4 )
ledLight.on()
pwmFrequency = 500
enablePin = PWM(Pin(4), pwmFrequency) # GPIO4 ( D2 )
pin1 = Pin(5, Pin.OUT) # GPIO5 ( D1 )
pin2 = Pin(14, Pin.OUT) # GPIO14 ( D5 )
dcMotorA = DCMotor(pin1, pin2, enablePin)
pin3 = Pin(12, Pin.OUT) # GPIO12 ( D6 )
pin4 = Pin(13, Pin.OUT) # GPIO13 ( D7 )
dcMotorB = DCMotor(pin3, pin4, enablePin)
forwardSpeed = 100
backwardSpeed = 80
def web_page():
html = """
<html>
<head>
<style>
html {
#!/usr/bin/env python3
# REF: https://www.electronicshub.org
from dcmotor import DCMotor
G_LOW_SPEED = 4
G_MEDIUM_SPEED = 7
G_HIGH_SPEED = 10
dcMotorA = DCMotor(17, 27) # GPIO17, GPIO27
def printCmdTips():
print('\nPlease enter the following cmd to continue ↓')
print('f: Run forward, b: Run backward, h: High speed, s: Stop\n')
def go():
printCmdTips()
while True:
x = input()
try:
if x == 'f':
dcMotorA.runForward(G_MEDIUM_SPEED)
elif x == 'b':
dcMotorA.runBackward(G_LOW_SPEED)
elif x == 'h':
dcMotorA.runForward(G_HIGH_SPEED)
elif x == 's':
dcMotorA.stop()
else:
def main():
gc.collect()
ledLight = Signal(Pin(2, Pin.OUT), invert=False) # GPIO2 ( D2 )
sleep(0.1)
ledLight.on()
dcMotorA = DCMotor(4, 5) # GPIO4 ( D4 ), GPIO5 ( D5 )
sleep(0.1)
dcMotorA.stop()
servoB = CServo(15) # GPIO15 ( D15 )
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.bind(('', 80))
sock.listen(5)
while True:
try:
if gc.mem_free() < G_GC_THRESHOLD:
gc.collect()
conn, addr = sock.accept()
conn.settimeout(3.0)
print('Received HTTP GET connection request from %s' % str(addr))
request = conn.recv(1024)
conn.settimeout(None)
request = str(request)
print('GET Rquest Content = %s' % request)
car_direction = request.find('/?car_direction')
turn_left = request.find('/?turn_left')
car_forward = request.find('/?car_forward')
turn_right = request.find('/?turn_right')
speed_up = request.find('/?speed_up')
car_stop = request.find('/?car_stop')
slow_down = request.find('/?slow_down')
car_backward = request.find('/?car_backward')
if car_direction == G_CMD_IDX:
endIdx = request.find(' HTTP/')
subReq = request[G_CMD_IDX:endIdx]
startIdx = subReq.find('=') + 1
virtualAngle = int(subReq[startIdx:])
print('cmd: car_direction, virtualAngle =', virtualAngle)
ledLight.on()
servoB.carDirection(virtualAngle)
elif turn_left == G_CMD_IDX:
print('cmd: turn_left')
ledLight.on()
servoB.turnLeft()
elif car_forward == G_CMD_IDX:
print('cmd: car_forward')
ledLight.on()
dcMotorA.forward(G_FORWARD_SPEED)
elif turn_right == G_CMD_IDX:
print('cmd: turn_right')
ledLight.on()
servoB.turnRight()
elif speed_up == G_CMD_IDX:
print('cmd: speed_up')
ledLight.on()
dcMotorA.speedUp()
elif car_stop == G_CMD_IDX:
print('cmd: car_stop')
ledLight.off()
dcMotorA.stop()
elif slow_down == G_CMD_IDX:
print('cmd: slow_down')
ledLight.on()
dcMotorA.slowDown()
elif car_backward == G_CMD_IDX:
print('cmd: car_backward')
ledLight.on()
dcMotorA.backward(G_BACKWARD_SPEED)
resHtml = getWebPage()
conn.send('HTTP/1.1 200 OK\n')
conn.send('Content-Type: text/html\n')
conn.send('Connection: closed.\n\n')
conn.sendall(resHtml)
conn.close()
except OSError as e:
conn.close()
print('Connection closed. OSError =', e)
