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pathrobo.py
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pathrobo.py
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#program to move the robo in the specified path
import wiringpi as wp
wp.wiringPiSetupGpio()
def Motor(x,y,pwm):
wp.pinMode(x,1)
wp.pinMode(y,1)
wp.pinMode(pwm,1)
wp.softPwmCreate(pwm,0,500)
return x,y,pwm
def dir2(motor,speed):
(x,y,pwm)=motor
wp.digitalWrite(x,0)
wp.digitalWrite(y,1)
wp.softPwmWrite(pwm,speed)
def dir1(motor,speed):
(x,y,pwm)=motor
wp.digitalWrite(x,1)
wp.digitalWrite(y,0)
wp.softPwmWrite(pwm,speed)
a=0
while a<1:
motor1=Motor(20,16,21)
motor2=Motor(23,24,25)
dir2(motor1,82)
dir2(motor2,100)
wp.delay(4000) #for 60 cm forward
dir1(motor1,0)
dir1(motor2,0)
# wp.delay(1000) #delay time
# dir1(motor1,100)
# dir2(motor2,65)
# wp.delay(427) #for 60 degree clockwise turn
# dir1(motor1,0)
# dir2(motor2,0)
# wp.delay(1000) #delay time
# dir1(motor1,100)
# dir1(motor2,65)
# wp.delay(1399) #for 30 cm forward
# dir1(motor1,0)
# dir1(motor2,0)
# wp.delay(1000) #delay time
# dir1(motor1,100)
# dir2(motor2,65)
# wp.delay(1820) #for rotation towards initial position
# dir1(motor1,0)
# dir1(motor2,0)
# wp.delay(1000) #delay time
# dir1(motor1,100)
# dir1(motor2,65)
# wp.delay(3265) #for 70 cm forward towards initial pos
# dir1(motor1,0)
# dir2(motor2,0)
# wp.delay(1000) #delay time
# dir1(motor1,100)
# dir2(motor2,65)
# wp.delay(1700) #rotate to align with initial position
# dir1(motor1,0)
# dir1(motor2,0)
a+=1
dir1(motor1,0)
dir1(motor2,0)