forked from ianmungai/Integration
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MDD10A.py
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MDD10A.py
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import math
import RPi.GPIO as GPIO
from time import sleep
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
PWM1=11
PWM2=12
DIR1=13
DIR2=15
GPIO.setup(PWM1,GPIO.OUT)
GPIO.setup(PWM2,GPIO.OUT)
GPIO.setup(DIR1,GPIO.OUT)
GPIO.setup(DIR2,GPIO.OUT)
p1=GPIO.PWM(PWM1, 1000)
p2=GPIO.PWM(PWM2, 1000)
class direction():
def __init__(self, motor):
self.m=motor
def change_direction(self, direction):
self.d=direction
if(self.m=="ONE"):
if self.d=="forward":
GPIO.output(DIR1, GPIO.HIGH)
elif self.d=="reverse":
GPIO.output(DIR1,GPIO.LOW)
elif self.m=="TWO":
if self.d=="forward":
GPIO.output(DIR2,GPIO.LOW)
elif self.d=="reverse":
GPIO.output(DIR2,GPIO.HIGH)
class speed():
def __init__(self):
currentspeed=self.s
self.s=0.0
def up(self):
if self.s<100.0:
self.s=self.s+10.0
def down(self):
if self.s>0.0:
self.s=self.s-10.0
def rampdown(self):
while self.s > 0.0:
self.s=self.s-10.0
sleep(.1)
p1.ChangeDutyCycle(self.s)
p2.ChangeDutyCycle(self.s)
if self.s<0:
self.s=10.0
p1.ChangeDutyCycle(0)
p2.ChangeDutyCycle(0)
def set_motor(self, motor, speed):
current = math.round(self.s)
while current != speed:
sign = (speed - current) / math.abs(speed - current)
motor.ChangeDutyCycle(current + (1 * sign))
sleep(0.01)
def set_left(self, speed):
self.set_motor(p1, speed)
def set_right(self, speed):
self.set_motor(p2, speed)
def set_both(self, speed):
self.set_left(speed)
self.set_right(speed)
def get(self):
return float(self.s)
m1=direction("ONE")
m2=direction("TWO")
s1=speed()
s2=speed()
p1.start(0)
p2.start(0)
# p1.ChangeDutyCycle(s1.get())
# p2.ChangeDutyCycle(s2.get())
# while (1):
# q = raw_input()
# if q=='w':
# print("forward")
# m1.change_direction("forward")
# m2.change_direction("forward")
# s1.up()
# s2.up()
# p1.ChangeDutyCycle(s1.get())
# p2.ChangeDutyCycle(s2.get())
# print(s1.s)
# print(s2.s)
# q='z'
# if q=='e':
# print("rampdown")
# s1.rampdown()
# s2.rampdown()
# p1.ChangeDutyCycle(s1.get())
# p2.ChangeDutyCycle(s2.get())
# print(s1.s)
# print(s2.s)
# q='z'
# if q=='x':
# print("reverse")
# m1.change_direction("reverse")
# m2.change_direction("reverse")
# s1.up()
# s2.up()
# p1.ChangeDutyCycle(s1.get())
# p2.ChangeDutyCycle(s2.get())
# print(s1.s)
# print(s1.s)
# q='z'
# if q =='s':
# print("slow down")
# s1.down()
# s2.down()
# p1.ChangeDutyCycle(s1.get())
# p2.ChangeDutyCycle(s2.get())
# print(s1.s)
# print(s2.s)
# if q=='d':
# print("right")
# s1.rampdown()
# m2.change_direction("reverse")
# m1.change_direction("forward")
# p1.ChangeDutyCycle(50)
# p2.ChangeDutyCycle(50)
# q='z'
# if q=='a':
# print("left")
# s2.rampdown()
# m2.change_direction("forward")
# m1.change_direction("reverse")
# p1.ChangeDutyCycle(50)
# p2.ChangeDutyCycle(50)
# q='z'
# if q=='l':
# print("low")
# p1.ChangeDutyCycle(10)
# p2.ChangeDutyCycle(10)
# sleep(.3)
# p1.ChangeDutyCycle(20)
# p2.ChangeDutyCycle(20)
# sleep(.3)
# p1.ChangeDutyCycle(25)
# p2.ChangeDutyCycle(25)
# sleep(.3)
# q='z'
# if q=='m':
# print("medium")
# p1.ChangeDutyCycle(10)
# p2.ChangeDutyCycle(10)
# sleep(.3)
# p1.ChangeDutyCycle(20)
# p2.ChangeDutyCycle(20)
# sleep(.3)
# p1.ChangeDutyCycle(30)
# p2.ChangeDutyCycle(30)
# sleep(.3)
# p1.ChangeDutyCycle(40)
# p2.ChangeDutyCycle(40)
# sleep(.3)
# p1.ChangeDutyCycle(50)
# p2.ChangeDutyCycle(50)
# q='z'
# if q=='h':
# print("high")
# p1.ChangeDutyCycle(10)
# p2.ChangeDutyCycle(10)
# sleep(.3)
# p1.ChangeDutyCycle(20)
# p2.ChangeDutyCycle(20)
# sleep(.3)
# p1.ChangeDutyCycle(30)
# p2.ChangeDutyCycle(30)
# sleep(.3)
# p1.ChangeDutyCycle(40)
# p2.ChangeDutyCycle(40)
# sleep(.3)
# p1.ChangeDutyCycle(50)
# p2.ChangeDutyCycle(50)
# sleep(.3)
# p1.ChangeDutyCycle(60)
# p2.ChangeDutyCycle(60)
# sleep(.3)
# p1.ChangeDutyCycle(70)
# p2.ChangeDutyCycle(70)
# sleep(.3)
# p1.ChangeDutyCycle(80)
# p2.ChangeDutyCycle(80)
# q='z'