def ButtonReverse(): backwardAcc = 0 backwardAcc = getMotorSpeedStep() setacceleration((backwardAcc*-1)) motorFspeed, motorRspeed = getMotorSpeed() # percent calculation valueF = float(motorFspeed)/100 valueR = float(motorRspeed)/100 GPIO.pwmWrite(motorFdPin, valueF) GPIO.pwmWrite(motorRdPin, valueR)
def ButtonForward(): fowardAcc = 0 fowardAcc = getMotorSpeedStep() setacceleration(fowardAcc) motorFspeed, motorRspeed = getMotorSpeed() # percent calculation valueF = float(motorFspeed)/100 valueR = float(motorRspeed)/100 GPIO.pwmWrite(motorFdPin, valueF) GPIO.pwmWrite(motorRdPin, valueR)
def write(self, ratio): if 1.0 < ratio: # saturation ratio = 1.0 if -1.0 > ratio: # saturation ratio = -1.0 if 0.01 > ratio and -0.01 < ratio: # stop GPIO.pwmWrite(self._pin1, 0.0) GPIO.pwmWrite(self._pin2, 0.0) elif 0 < ratio: # Normal rotation GPIO.pwmWrite(self._pin1, ratio) GPIO.pwmWrite(self._pin2, 0.0) else: # Reverse rotation GPIO.pwmWrite(self._pin1, 0.0) GPIO.pwmWrite(self._pin2, -ratio)