def setup(busnum=None):
global forward0, forward1, backward1, backward0
global pwm
if busnum == None:
pwm = p.PCA9685() # Initialize the servo controller.
else:
pwm = p.PWM(bus_number=busnum) # Initialize the servo controller.
pwm.frequency = 60
forward0 = 'True'
forward1 = 'True'
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD) # Number GPIOs by its physical location
try:
for line in open("config"):
if line[0:8] == "forward0":
forward0 = line[11:-1]
if line[0:8] == "forward1":
forward1 = line[11:-1]
except:
pass
if forward0 == 'True':
backward0 = 'False'
elif forward0 == 'False':
backward0 = 'True'
if forward1 == 'True':
backward1 = 'False'
elif forward1 == 'False':
backward1 = 'True'
for pin in pins:
GPIO.setup(pin, GPIO.OUT) # Set all pins' mode as output
