def motor_brake(self, motor):
if motor == KMotor.MOTOR_1:
pin8.write_digital(1)
pin12.write_digital(1)
else:
pin0.write_digital(1)
pin16.write_digital(1)
def motor_on(self, motor, direction, speed=100):
"""
Turn motor with the given direction and speed
:param motor: KMotor.MOTOR1 or KMotor.Motor2
:param direction: KMotor.FORWARD or KMOTOR.REVERSE
:param speed: 0 - 100
:return:
"""
# make sure the speed is within range
if not 0 <= speed <= 100:
# not display a "NO" and return
display.show(Image.NO)
return
# speed needs to be scaled from 0-100 to 0-1023
speed = self._scale(speed)
# Move Motor Forward
if direction == KMotor.FORWARD:
if motor == KMotor.MOTOR_1:
pin8.write_analog(speed)
pin12.write_digital(0)
elif motor == KMotor.MOTOR_2:
pin0.write_analog(speed)
pin16.write_digital(0)
# Move Motor In Reverse
else:
if motor == KMotor.MOTOR_1:
pin12.write_analog(speed)
pin8.write_digital(0)
elif motor == KMotor.MOTOR_2:
pin16.write_analog(speed)
pin0.write_digital(0)
def motor_brake(self, motor):
"""
Brake the selected motor.
:param motor:
:return:
"""
if motor == KMotor.MOTOR_1:
pin8.write_digital(1)
pin12.write_digital(1)
else:
pin0.write_digital(1)
pin16.write_digital(1)
def motor_on(self, motor, direction, speed=100):
if not 0 <= speed <= 100:
display.show(Image.NO)
return
speed = self._scale(speed)
if direction == KMotor.FORWARD:
if motor == KMotor.MOTOR_1:
pin8.write_analog(speed)
pin12.write_digital(0)
elif motor == KMotor.MOTOR_2:
pin0.write_analog(speed)
pin16.write_digital(0)
else:
if motor == KMotor.MOTOR_1:
pin12.write_analog(speed)
pin8.write_digital(0)
elif motor == KMotor.MOTOR_2:
pin16.write_analog(speed)
pin0.write_digital(0)
def get_sonar_distance(unit: int = SONAR_CM, timeout_us: int = 30000) -> float:
"""
Returns object distance from sonar module in given unit.
If negative number is returned, the timeout was reached during waiting for echo.
"""
# trigger
pin8.write_digital(0)
sleep_us(5)
pin8.write_digital(1)
sleep_us(10)
pin8.write_digital(0)
# catch echo
echo_time = time_pulse_us(pin12, 1, timeout_us)
if echo_time < 0:
return echo_time
if unit == SONAR_CM:
return (echo_time / 2) / 29.1
elif unit == SONAR_IN:
return float((echo_time / 2) / 74)
return -1.0
try:
message = radio.receive()
except ValueError:
radio.off()
sleep(100)
radio.on()
message = None
direction = None
if message is not None:
data = message.split(":")
if data[0] == "move":
direction = data[1]
if direction is not None:
display.show(ARROWS[direction])
pins = DIRECTIONS[direction]
# to avoid shorting motors
# first turn everything off then turn on the ones that need to be
for value in range(2):
for index, pin in enumerate([pin0, pin1, pin2, pin8]):
if pins[index] == value:
pin.write_digital(value)
sleep(50)
else:
pin0.write_digital(0)
pin8.write_digital(0)
pin1.write_digital(0)
pin2.write_digital(0)
display.show(Image.NO)
def set_leds(self, state):
pin8.write_digital(state)
