if cpuTemp < CUTOFF_TEMP:
setFanSpeed(0)
fanOn = False
elif cpuTemp >= MAX_TEMP:
setFanSpeed(FAN_MAX)
fanOn = True
# If temperature is between MIN_TEMP and MAX_TEMP, fan speed is calculated by linear interpolation
# If temperature is between CUTOFF_TEMP and MIN_TEMP, keap current fan speed
elif cpuTemp > MIN_TEMP:
fanSpeed = calculateFanSpeed(cpuTemp)
setFanSpeed(fanSpeed)
fanOn = True
return ()
try:
# Setup GPIO pin
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(FAN_PIN, GPIO.OUT, initial=GPIO.LOW)
fan = GPIO.PWM(FAN_PIN, PWM_FREQ)
setFanSpeed(FAN_OFF)
# Handle fan speed every WAIT_TIME sec
while True:
handleFanSpeed2()
time.sleep(WAIT_TIME)
except KeyboardInterrupt:
print("Fan ctrl interrupted by CTRL+C")
GPIO.cleanup()
sys.exit()
import RPi.GPIO as GPIO, time
import math
port = 36
directionPort = 32
GPIO.setmode(GPIO.BOARD)
GPIO.setup(port, GPIO.OUT)
GPIO.setup(directionPort, GPIO.OUT)
speed = 700
p = GPIO.PWM(port, speed)
p.start(50)
class Stepper:
def __init__(self, diameterInCM):
self.revsPerSecond = 3.21 # 0.65
self.diameter = diameterInCM
self.circ = math.pi * self.diameter
self.p = GPIO.PWM(port, speed)
print "Initialized: circumfrence is %f" % self.circ
def goSpoolDistance(self, distance, direction):
print "Calculating revs to go %f" % distance
travelled = 0
revs = 0
currentDiameter = self.diameter
while travelled < distance:
travelled += math.pi * currentDiameter
# -*- coding: utf-8 -*-
import RPi.GPIO as GPIO
import time
pin = 12
GPIO.setmode(GPIO.BOARD)
GPIO.setup(pin, GPIO.OUT)
p = GPIO.PWM(pin, 50)
p.start(2.5)
try:
while True:
print('*** Start *** ')
p.ChangeDutyCycle(2.5)
time.sleep(1)
p.ChangeDutyCycle(7.5)
time.sleep(1)
p.ChangeDutyCycle(12.5)
time.sleep(3)
except KeyboardInterrupt:
p.stop()
GPIO.cleanup()
#This isn't much, but this helps to define color codes for different colors!
import random
#Setting up the Pi...
import RPi.GPIO as GPIO
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(00, GPIO.OUT)
GPIO.setup(01, GPIO.OUT)
GPIO.setup(04, GPIO.OUT)
GPIO.output(00, 1)
GPIO.output(01, 1)
GPIO.output(04, 1)
r = GPIO.PWM(00, 60)
g = GPIO.PWM(01, 60)
b = GPIO.PWM(04, 60)
r.start(0)
g.start(0)
b.start(0)
complete = 0
print("Hello! Just follow the prompts.")
print(
"If you're looking for a random color, just hit enter throughout the prompts without entering a number."
)
try:
while True:
# r.ChangeDutyCycle(0)
# g.ChangeDutyCycle(0)
# b.ChangeDutyCycle(0)
if complete == 1:
import RPi.GPIO as GPIO
from time import sleep
from math import pow
GPIO.setmode(GPIO.BOARD)
red = 12
yellow = 11
btn1 = 13
btn2 = 15
GPIO.setup(btn1, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(btn2, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(red, GPIO.OUT)
GPIO.setup(yellow, GPIO.OUT)
pwmR = GPIO.PWM(red, 100)
pwmY = GPIO.PWM(yellow, 100)
feq = 2
pwmR.start(feq)
pwmY.start(feq)
try:
while (1):
if GPIO.input(btn1) == 0:
feq = pow(feq, 2)
if feq > 100:
print("You have reached max frequency")
feq = 100
pwmR.ChangeDutyCycle(feq)
sleep(.1)
pwmY.ChangeDutyCycle(feq)
sleep(.1)
print("frequency = ", feq)
if GPIO.input(btn2) == 0:
feq = pow(feq, .5)
GPIO_TRIGGER = 23
GPIO_ECHO = 24
servo_pin1 = 18
servo_pin2 = 26
print("Ultrasonic Measurement")
GPIO.setup(servo_pin1, GPIO.OUT)
GPIO.setup(servo_pin2, GPIO.OUT)
GPIO.setup(GPIO_TRIGGER, GPIO.OUT)
GPIO.setup(GPIO_ECHO, GPIO.IN)
GPIO.output(GPIO_TRIGGER, False)
time.sleep(2) # 원래 2
p1 = GPIO.PWM(servo_pin1, 50)
p2 = GPIO.PWM(servo_pin2, 50)
p1.start(0) # 원래 2.5
p2.start(12.5) # 원래 2.5
GPIO.add_event_detect(button_pin, GPIO.RISING, callback=button_callback)
try:
while True:
distance = measure_average()
print("Distance : %.1f" % distance)
time.sleep(1) #
if distance <= 10: #초음파 센서와 거리
print("angle : 1")
p1.ChangeDutyCycle(12.5)
#!/usr/bin/env python
import RPi.GPIO as GPIO
import time
colors = [0xFF0000, 0x00FF00, 0x0000FF, 0xFFFF00, 0xFF00FF, 0x00FFFF]
pins = {'pin_R': 11, 'pin_G': 12, 'pin_B': 13} # pins is a dict
GPIO.setmode(GPIO.BOARD) # Numbers GPIOs by physical location
for i in pins:
GPIO.setup(pins[i], GPIO.OUT) # Set pins' mode is output
GPIO.output(pins[i], GPIO.HIGH) # Set pins to high(+3.3V) to off led
p_R = GPIO.PWM(pins['pin_R'], 2000) # set Frequece to 2KHz
p_G = GPIO.PWM(pins['pin_G'], 2000)
p_B = GPIO.PWM(pins['pin_B'], 5000)
p_R.start(0) # Initial duty Cycle = 0(leds off)
p_G.start(0)
p_B.start(0)
def map(x, in_min, in_max, out_min, out_max):
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
def setColor(col): # For example : col = 0x112233
R_val = (col & 0xFF0000) >> 16
G_val = (col & 0x00FF00) >> 8
B_val = (col & 0x0000FF) >> 0
R_val = map(R_val, 0, 255, 0, 100)
hierarchy = [0, 0, 0, 0]
window = ['wcp1', 'wcp2', 'wcp3', 'wcp4']
window2 = ['wccp1', 'wccp2', 'wccp3', 'wccp4']
window3 = ['wcccp1', 'wcccp2', 'wcccp3', 'wcccp4']
servo1 = 15
servo2 = 14
deltadt = 0.1
dt1 = 4
dt2 = 6
rp.setmode(rp.BCM)
rp.setwarnings(False)
rp.setup(servo1, rp.OUT)
rp.setup(servo2, rp.OUT)
pwm1 = rp.PWM(servo1, 50)
pwm2 = rp.PWM(servo2, 50)
pwm1.start(2)
pwm2.start(7)
cv.namedWindow('frame', cv.WINDOW_FREERATIO)
usingPiCamera = True
vs = VideoStream(src=0,
usePiCamera=usingPiCamera,
resolution=(240, 240),
framerate=60).start()
sleep(0.2)
pwm1.stop()
pwm2.stop()
################################################################################################################################
while True:
import RPi.GPIO as GPIO
import time
servoPIN1 = 4
GPIO.setmode(GPIO.BCM)
GPIO.setup(servoPIN1, GPIO.OUT)
p1 = GPIO.PWM(servoPIN1, 50)
p1.start(5.0)
servoPIN = 17
GPIO.setmode(GPIO.BCM)
GPIO.setup(servoPIN, GPIO.OUT)
p = GPIO.PWM(servoPIN, 50)
p.start(5.0)
try:
while True:
p.ChangeDutyCycle(3.0 / 50 * 50)
'''p1.ChangeDutyCycle(10.0)
time.sleep(0.5)
p1.ChangeDutyCycle(7.5)
time.sleep(0.5)
p1.ChangeDutyCycle(5.0)
time.sleep(0.5)'''
p1.ChangeDutyCycle(3.0 / 50 * 50)
#time.sleep(1)
except KeyboardInterrupt:
p1.stop()
GPIO.cleanup()
my_pwm.ChangeFrequency(1000) to change the Hz my_pwm.stop() to stop the signal, but kills the loop ''' GPIO.setwarnings(False) # Ignore warnings GPIO.setmode(GPIO.BOARD) # Use physical pin numbering # - Set the clock: GPIO.setup(7, GPIO.OUT, initial=GPIO.LOW) # - Set the reward PINs: GPIO.setup(35, GPIO.OUT, initial=GPIO.LOW) GPIO.setup(37, GPIO.OUT, initial=GPIO.LOW) # - Initiate the analog objects: my_pwm_negative = GPIO.PWM(35, 1000) # (pin, Hz) my_pwm_positive = GPIO.PWM(37, 1000) # (pin, Hz) # - Set the outputs with initial to LOW: GPIO.setup(11, GPIO.OUT, initial=GPIO.LOW) GPIO.setup(13, GPIO.OUT, initial=GPIO.LOW) GPIO.setup(15, GPIO.OUT, initial=GPIO.LOW) # - Set the inputs (pulled low): GPIO.setup(36, GPIO.IN, pull_up_down=GPIO.PUD_DOWN) GPIO.setup(38, GPIO.IN, pull_up_down=GPIO.PUD_DOWN) GPIO.setup(40, GPIO.IN, pull_up_down=GPIO.PUD_DOWN) # - Input F vector: input_F_vector = [0] * 3
brailleState = [0, 0, 0, 0, 0, 0]
binInput = 0
lastBinInput = 0
task = 1
taskFile = ''
TaskDir = './Tasks'
taskCount = len([
name for name in os.listdir(TaskDir)
if os.path.isfile(os.path.join(TaskDir, name))
])
GPIO.setmode(GPIO.BOARD)
for pin in range(len(c.BRAILLE_WRITE_PAD)):
GPIO.setup(c.BRAILLE_WRITE_PAD[pin], GPIO.OUT)
WRITE_PINS.append(GPIO.PWM(c.BRAILLE_WRITE_PAD[pin], 40000))
WRITE_PINS[pin].start(0)
#Global callbacks to call when buttons are pressed
def callback0(channel):
global binInput
global brailleState
if brailleState[0] == 0:
binInput += 1
brailleState[0] = 1
WRITE_PINS[0].ChangeDutyCycle(60)
print(brailleState)
def servo_CCW(ServoPIN):
servo = GPIO.PWM(ServoPIN, 100)
servo.start(18)
time.sleep(spinDuration)
servo.stop()
#!/usr/bin/env python
import RPi.GPIO as GPIO
import time
PIN_R = 11
Red_Signal_Frequency = 2000 # The frequency of the digital signal
Red_Signal_Duty_Cycle = 50 # The duty cycle of the digital signal. This is the on-time
GPIO.setmode(GPIO.BOARD) # Numbers GPIOs by physical location
GPIO.setup(PIN_R, GPIO.OUT) # Set the R pin to mode is output
GPIO.output(PIN_R, GPIO.HIGH) # Turn off the LED
PWM_R_Pin = GPIO.PWM(
PIN_R, Red_Signal_Frequency
) # Set the pin to a pulse width modulation digital signal with a set frequency
while True:
try: # runs until Ctrl+C interupts
PWM_R_Pin.start(
Red_Signal_Duty_Cycle
) # Start the pwm on the designated pin with a set duty cycle
except KeyboardInterrupt: # `runs when Ctrl+C interupts
break
print("End of program")
GPIO.cleanup() # this ensures a clean exit
# Set GPIO to Broadcom system and set RGB Pin numbers
GPIO.setmode(GPIO.BCM)
red = 17
green = 18
blue = 27
# Set pins to output mode
GPIO.setup(red, GPIO.OUT)
GPIO.setup(green, GPIO.OUT)
GPIO.setup(blue, GPIO.OUT)
Freq = 100 #Hz
# Setup all the LED colors with an initial
# duty cycle of 0 which is off
RED = GPIO.PWM(red, Freq)
RED.start(0)
GREEN = GPIO.PWM(green, Freq)
GREEN.start(0)
BLUE = GPIO.PWM(blue, Freq)
BLUE.start(0)
# Define a simple function to turn on the LED colors
def color(R, G, B, on_time):
# Color brightness range is 0-100%
RED.ChangeDutyCycle(R)
GREEN.ChangeDutyCycle(G)
BLUE.ChangeDutyCycle(B)
time.sleep(on_time)
import RPi.GPIO as GPIO
import time
GPIO.setmode(GPIO.BOARD)
GPIO.setup(12, GPIO.OUT)
p = GPIO.PWM(12, 50)
trig = 16
echo = 18
p.start(7.5)
GPIO.setup(trig, GPIO.OUT)
GPIO.setup(echo, GPIO.IN)
try:
GPIO.output(trig, False)
time.sleep(2)
while True:
distance = 0
p.ChangeDutyCycle(2.7) # turn towards 90 degree
print("0 derece")
GPIO.output(trig, True)
time.sleep(0.00001)
GPIO.output(trig, False)
while GPIO.input(echo) == 0:
start1 = time.time()
import RPi.GPIO as GPIO # Import Raspberry Pi GPIO library
from time import sleep # Import the sleep function from the time module
GPIO.setwarnings(False) # Ignore warning for now
GPIO.setmode(GPIO.BOARD) # Use physical pin numbering
GPIO.setup(11, GPIO.IN)
GPIO.setup(12, GPIO.IN)
GPIO.setup(11, GPIO.OUT)
GPIO.setup(12, GPIO.OUT)
servoPIN = 18
GPIO.setmode(GPIO.BOARD)
GPIO.setup(servoPIN, GPIO.OUT)
p = GPIO.PWM(servoPIN, 50)
#while True:
if GPIO.input(11) == False and GPIO.input(12) == False:
print "1"
GPIO.output(11, GPIO.LOW)
sleep(0.5)
p.start(2.5)
GPIO.output(12, GPIO.LOW)
sleep(0.5)
p.stop()
elif GPIO.input(11) == True and GPIO.input(12) == False:
print "2"
GPIO.output(11, GPIO.HIGH)
sleep(0.5)
p.start(2.5)
GPIO.output(12, GPIO.LOW)
# Timeout (wird regelmäßig aufgerufen)
def timeout(self):
# Temperatur ermitteln und anzeigen
with open(fname, 'rt') as f:
temp = int(f.readline()) / 1000
print(temp)
self.tempLbl.setText('%.1f°C' % (temp))
# Status von Taster ermitteln
status = gpio.input(21)
if status == 0:
self.switchLbl.setText('gedrückt')
else:
self.switchLbl.setText('nicht gedrückt')
# GPIO-Setup
gpio.setmode(gpio.BOARD) # Pin-Nummern des J8-Headers
gpio.setup(21, gpio.IN) # Pin 21 zur Dateneingabe
gpio.setup(26, gpio.OUT) # Pin 26 zur Datenausgabe
pwm = gpio.PWM(26, 1000) # Frequenz: 1000 Hertz
pwm.start(0) # Duty 0 (dunkel)
fname = '/sys/class/thermal/thermal_zone0/temp'
# Fenster öffnen, auf Programmende warten
app = QtWidgets.QApplication([])
win = MyWindow()
win.show()
app.exec_()
gpio.cleanup()
GPIO.setup(18, GPIO.OUT)
GPIO.setup(16, GPIO.OUT)
GPIO.setup(26, GPIO.OUT)
GPIO.setup(24, GPIO.OUT)
GPIO.setup(enb, GPIO.OUT)
GPIO.setup(ena, GPIO.OUT)
GPIO.setup(10, GPIO.IN)
GPIO.setup(38, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(40, GPIO.OUT, initial=GPIO.HIGH)
GPIO.setup(35, GPIO.OUT, initial=GPIO.HIGH)
GPIO.output(18, False)
GPIO.output(16, False)
GPIO.output(26, False)
GPIO.output(24, False)
GPIO.input(10)
p = GPIO.PWM(ena, 1000)
p2 = GPIO.PWM(enb, 1000)
p.start(22)
p2.start(32)
with picamera.PiCamera() as camera:
camera.resolution = (180, 90)
camera.capture("/home/pi/Desktop/colors.jpg")
print("Picture Taken")
def stop(os):
os.system(myCmd)
while getrgb == True:
def setup(self):
GPIO.setup(self._motor_pin, GPIO.OUT)
GPIO.setup(self._forward_pin, GPIO.OUT)
GPIO.setup(self._backwards_pin, GPIO.OUT)
self._motor = GPIO.PWM(self._motor_pin, 100)
import RPi.GPIO as GPIO
import time
import socket
import select
import sys
from thread import *
GPIO.setmode(GPIO.BCM)
GPIO.setup(18,GPIO.OUT)
GPIO.setup(17,GPIO.OUT)
GPIO.setup(13,GPIO.OUT)
GPIO.setup(19,GPIO.OUT)
GPIO.output(18,GPIO.HIGH)
GPIO.output(13,GPIO.HIGH)
GPIO.output(19,GPIO.HIGH)
p = GPIO.PWM(17, 100)
"""The first argument AF_INET is the address domain of the
socket. This is used when we have an Internet Domain with
any two hosts The second argument is the type of socket.
SOCK_STREAM means that data or characters are read in
a continuous flow."""
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
# checks whether sufficient arguments have been provided
if len(sys.argv) != 3:
print "Correct usage: script, IP address, port number"
exit()
# takes the first argument from command prompt as IP address
import numpy as np
#####################################
# Load Model:
model = load_model('Patate_dir.h5')
model_a = load_model('model-AugmentedDataset-anticipation.h5')
print("Models Loaded")
#init GPIO with BCM numberings
GPIO.setmode(GPIO.BCM)
#init every used pins
GPIO.setup(23, GPIO.OUT)
GPIO.setup(18, GPIO.OUT)
#set controls
POW = GPIO.PWM(18, 50)
DIR = GPIO.PWM(23, 50)
# Video settings
camera = PiCamera()
camera.resolution = (160, 128)
camera.framerate = 60
camera.hflip = True
camera.vflip = True
rawCapture = PiRGBArray(camera, size=(160, 128))
# Starting loop
print("Ready ! (press Ctrl+C to start/stop)...")
try:
while True:
pass
import RPi.GPIO as GPIO import time import signal import atexit atexit.register(GPIO.cleanup) GPIO.setmode(GPIO.BCM) GPIO.setup(12, GPIO.OUT) p = GPIO.PWM(12, 50) #50HZ p.start(0) time.sleep(2) p.ChangeDutyCycle(2.5) time.sleep(1) p.ChangeDutyCycle(6.25) time.sleep(1) p.ChangeDutyCycle(2.5)
#!/usr/bin/python3
import RPi.GPIO as GPIO
import time
GPIO.setmode(GPIO.BOARD)
GPIO.setup(11, GPIO.OUT)
p = GPIO.PWM(11,20)
p.start(0)
try:
while True:
p.ChangeDutyCycle(12.5)
time.sleep(2)
p.ChangeDutyCycle(2.5)
time.sleep(2)
p.ChangeDutyCycle(7.5)
time.sleep(2)
except KeyboardInterupt:
p.stop()
GPIO.cleanup()
import paho.mqtt.client as mqtt
from time import sleep
import RPi.GPIO as GPIO
GPIO.setmode(GPIO.BOARD)
GPIO.setup(40, GPIO.OUT)
GPIO.setup(18, GPIO.OUT)
pwm = GPIO.PWM(18, 50)
pwm.start(0)
def SetAngle(angle):
duty = float(angle) / 18 + 2
print(duty)
GPIO.output(40, True)
pwm.ChangeDutyCycle(duty)
sleep(1)
GPIO.output(40, False)
pwm.ChangeDutyCycle(0)
def baglanti_saglandiginda(client, userdata, flags, rc):
print("Baglandi, rc:" + str(rc))
client.subscribe("fatihmehmetergin/feeds/servo-feed", 0)
def mesaj_geldiginde(client, userdata, msg):
derece = msg.payload
SetAngle(derece)
istemci = mqtt.Client()
# pwm_frequency = 50
# duty_cycle = 6.2
# pause = 1
# rate = 0.1
# von 1ms
# 1/20 = 0.05
# 1/25 = 0.04
# Ruhe: 1.5ms
# 1/20 = 0.075
# 1/25 = 0.06
#bis 2ms
# 1/20 = 0.1
# 1/25 = 0.08
p = GPIO.PWM(servoPIN, pwm_frequency) # GPIO 18 als PWM mit 50Hz
p.start(duty_cycle) # Initialisierung
try:
while True:
print 'freq=' + str(pwm_frequency) + ' dc=' + str(
duty_cycle) + ' wait=' + str(pause)
p.ChangeDutyCycle(duty_cycle)
time.sleep(pause)
duty_cycle = duty_cycle + rate
except KeyboardInterrupt:
pass
p.stop()
GPIO.cleanup()
import cv2 import time import Motores as motor import Variaveis as var import RPi.GPIO as GPIO import Sensores as sensor import Configuracoes as definir GPIO.setmode(GPIO.BCM) GPIO.setwarnings(False) definir.configuracoes() ctr_vel_motor_esq, ctr_vel_motor_dir = GPIO.PWM(var.pin_ENB, 500), GPIO.PWM(var.pin_ENA, 500) ctr_vel_motor_esq.start(0) ctr_vel_motor_dir.start(0) time.sleep(1) A0_ATIVADO, A1_ATIVADO, A3_ATIVADO = False, False, False FAIXA_CONTENCAO = False desligar = False tempoCorrecao = 0
def __init__(self, diameterInCM):
self.revsPerSecond = 3.21 # 0.65
self.diameter = diameterInCM
self.circ = math.pi * self.diameter
self.p = GPIO.PWM(port, speed)
print "Initialized: circumfrence is %f" % self.circ
#Import modules import RPi.GPIO as GPIO import time #Define variables buttonPin = 17 ledPin = 18 ledOn = False previous_input = 0 #Setup GPIO.setmode(GPIO.BCM) GPIO.setup(buttonPin, GPIO.IN, pull_up_down = GPIO.PUD_UP) GPIO.setup(ledPin, GPIO.OUT) pwm = GPIO.PWM(ledPin, 100) currentPwm = 0 pwm.start(0) #Loop while (True): #get current input from the button input = GPIO.input(buttonPin) #if button is pressed check previous button state if ((not previous_input) and input): #increase currentPwm with 10% with each button press # when CurrentPwm reaches 100%, reset it back to 0 if currentPwm == 100: currentPwm = 0 pwm.ChangeDutyCycle(currentPwm)
Motor_R2_Pin = 10
Motor_L1_Pin = 27
Motor_L2_Pin = 22
Enable_1 = 17
Enable_2 = 11
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(Motor_R1_Pin, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(Motor_R2_Pin, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(Motor_L1_Pin, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(Motor_L2_Pin, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(Enable_1, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(Enable_2, GPIO.OUT, initial=GPIO.LOW)
pwm_e1 = GPIO.PWM(Enable_1, 100)
pwm_e2 = GPIO.PWM(Enable_2, 100)
pwm_e1.start(0)
pwm_e2.start(0)
def brake(): # Use reverse rotation to hold the brakes.
pwm_e1.ChangeDutyCycle(10)
pwm_e2.ChangeDutyCycle(10)
GPIO.output(Motor_R1_Pin, False)
GPIO.output(Motor_R2_Pin, True)
GPIO.output(Motor_L1_Pin, False)
GPIO.output(Motor_L2_Pin, True)
time.sleep(t)
GPIO.output(Motor_R1_Pin, False)
GPIO.output(Motor_R2_Pin, False)
# Set the GPIO Pin mode to be Output
GPIO.setup(pinMotorAForwards, GPIO.OUT)
GPIO.setup(pinMotorABackwards, GPIO.OUT)
GPIO.setup(pinMotorBForwards, GPIO.OUT)
GPIO.setup(pinMotorBBackwards, GPIO.OUT)
# Set pins as output and input
GPIO.setup(pinTrigger, GPIO.OUT) # Trigger
GPIO.setup(pinEcho, GPIO.IN) # Echo
# Distance Variables
HowNear = 15.0
ReverseTime = 0.5
TurnTime = 0.75
# Set the GPIO to software PWM at 'Frequency' Hertz
pwmMotorAForwards = GPIO.PWM(pinMotorAForwards, Frequency)
pwmMotorABackwards = GPIO.PWM(pinMotorABackwards, Frequency)
pwmMotorBForwards = GPIO.PWM(pinMotorBForwards, Frequency)
pwmMotorBBackwards = GPIO.PWM(pinMotorBBackwards, Frequency)
# Start the software PWM with a duty cycle of 0 (i.e. not moving)
pwmMotorAForwards.start(Stop)
pwmMotorABackwards.start(Stop)
pwmMotorBForwards.start(Stop)
pwmMotorBBackwards.start(Stop)
# Turn all motors off
def StopMotors():
pwmMotorAForwards.ChangeDutyCycle(Stop)
pwmMotorABackwards.ChangeDutyCycle(Stop)
