# set up the pins GPIO.setup(SPIMOSI, GPIO.OUT) GPIO.setup(SPIMISO, GPIO.IN) GPIO.setup(SPICLK, GPIO.OUT) GPIO.setup(SPICS, GPIO.OUT) GPIO.setup(19, GPIO.OUT) GPIO.setup(26, GPIO.OUT) GPIO.setup(16, GPIO.OUT) GPIO.setup(20, GPIO.OUT) GPIO.setup(4, GPIO.IN, pull_up_down=GPIO.PUD_UP) GPIO.add_event_detect(4, GPIO.FALLING, callback=PWR_func, bouncetime=50) # set up the PWM outputs to the motors pwm_MF = GPIO.PWM(19, 100) pwm_MR = GPIO.PWM(26, 100) servo = PWM.Servo() pwm_MF.start(0) pwm_MR.start(0) servo.set_servo(20, 1450) # joystick ADC channels joy_x_adc = 0 joy_y_adc = 1 while True: # get joystick position from ADC joy_x = readadc(joy_x_adc, SPICLK, SPIMOSI, SPIMISO, SPICS) joy_y = readadc(joy_y_adc, SPICLK, SPIMOSI, SPIMISO, SPICS)
# set up the pins RPIO.setup(SPIMOSI, RPIO.OUT) RPIO.setup(SPIMISO, RPIO.IN) RPIO.setup(SPICLK, RPIO.OUT) RPIO.setup(SPICS, RPIO.OUT) RPIO.setup(19, RPIO.OUT) RPIO.setup(26, RPIO.OUT) RPIO.setup(16, RPIO.OUT) RPIO.setup(20, RPIO.OUT) RPIO.setup(4, RPIO.IN, pull_up_down=RPIO.PUD_UP) RPIO.add_event_detect(4, PWR_func, edge="falling" debounce_timeout_ms=50) # set up the PWM outputs to the motors pwm_MF = RPIO.PWM(19, 100) pwm_MR = RPIO.PWM(26, 100) servo = PWM.Servo() pwm_MF.start(0) pwm_MR.start(0) servo.set_servo(20, 1450) # joystick ADC channels joy_x_adc = 0 joy_y_adc = 1 while True: # get joystick position from ADC joy_x = readadc(joy_x_adc, SPICLK, SPIMOSI, SPIMISO, SPICS) joy_y = readadc(joy_y_adc, SPICLK, SPIMOSI, SPIMISO, SPICS)
# set up the pins GPIO.setup(SPIMOSI, GPIO.OUT) GPIO.setup(SPIMISO, GPIO.IN) GPIO.setup(SPICLK, GPIO.OUT) GPIO.setup(SPICS, GPIO.OUT) GPIO.setup(19, GPIO.OUT) GPIO.setup(26, GPIO.OUT) GPIO.setup(16, GPIO.OUT) GPIO.setup(20, GPIO.OUT) GPIO.setup(4, GPIO.IN, pull_up_down=GPIO.PUD_UP) GPIO.add_event_detect(4, GPIO.FALLING, callback=PWR_func, bouncetime=50) # set up the PWM outputs to the motors pwm_MF = GPIO.PWM(19, 100) pwm_MR = GPIO.PWM(26, 100) pwm_servo = GPIO.PWM(20, 50) pwm_MF.start(0) pwm_MR.start(0) pwm_servo.start(7) # joystick ADC channels joy_x_adc = 0 joy_y_adc = 1 while True: # get joystick position from ADC joy_x = readadc(joy_x_adc, SPICLK, SPIMOSI, SPIMISO, SPICS) joy_y = readadc(joy_y_adc, SPICLK, SPIMOSI, SPIMISO, SPICS)