def __init__(self):
self.motorA= motor(16, 38, 0, 0)
self.motorB= motor(20, 39, 1, 1)
self.motorC= motor(22, 18, 2, 2)
self.motorD= motor(42, 17, 3, 3)
self.encoderA=encoder(5, 6)
self.encoderB=encoder(7, 8)
self.encoderC=encoder(11, 10)
self.encoderD=encoder(12, 13)
# ch = tim.channel(3, Timer.PWM, pin=buzzer)
# ch.pulse_width_percent(90)
# utime.sleep(0.5)
# ch.pulse_width_percent(0)
# utime.sleep(0.5)
# ch.pulse_width_percent(90)
# utime.sleep(0.5)
# ch.pulse_width_percent(0)
# utime.sleep(0.5)
# Set up motorA
DIRA = "X7"
PWMA = "X8"
TIMA = 14
CHANA = 1
motorA = motor_class.motor(PWMA, DIRA, TIMA, CHANA)
# Set up motorB
DIRB = "Y4"
PWMB = "Y3"
TIMB = 10
CHANB = 1
motorB = motor_class.motor(PWMB, DIRB, TIMB, CHANB)
# Set up encoder timers
pin_a = pyb.Pin("X1", pyb.Pin.AF_PP, pull=pyb.Pin.PULL_NONE, af=pyb.Pin.AF1_TIM2)
pin_b = pyb.Pin("X2", pyb.Pin.AF_PP, pull=pyb.Pin.PULL_NONE, af=pyb.Pin.AF1_TIM2)
pin_c = pyb.Pin("X9", pyb.Pin.AF_PP, pull=pyb.Pin.PULL_NONE, af=pyb.Pin.AF2_TIM4)
# ch.pulse_width_percent(0)
# while gps_uart.any() >= 0:
# my_gps.update(chr(gps_uart.readchar()))
# print('No GPS signal!!!\n')
# xbee_uart.write('No GPS signal!!!\n')
# print(my_gps.latitude)
# if my_gps.latitude[0] != 0:
# break
# Set up motorA
DIRA = 'X7'
PWMA = 'X8'
TIMA = 14
CHANA = 1
motorA = motor_class.motor(PWMA, DIRA, TIMA, CHANA)
# Set up motorB
DIRB = 'Y4'
PWMB = 'Y3'
TIMB = 10
CHANB = 1
motorB = motor_class.motor(PWMB, DIRB, TIMB, CHANB)
# Set up encoder timers
pin_a = pyb.Pin('X1',
pyb.Pin.AF_PP,
pull=pyb.Pin.PULL_NONE,
af=pyb.Pin.AF1_TIM2)
pin_b = pyb.Pin('X2',
import motor_class
import RPi.GPIO as GPIO
import time
GPIO.setwarnings(False)
Motor = motor_class.motor(5,6,13)
print("motor run")
Motor.go(100)
time.sleep(3)
print("motor stop")
Motor.stop()
time.sleep(3)
GPIO.cleanup()
#walking_test.py #Created:4/10/2017 # -Joseph Fuentes # [email protected] from motor_class import motor, encoder A = motor('P10', 'P11', 0, 0) B = encoder('P22', 'P21') B.reset_count() while True: B.trigger('CW') A.PHpin(1) A.change_speed(0.4) if abs(B.count) == 10250: del B.count A.change_speed(0) B.reset_count() break