Python dcmotor Exemples

Exemple #1

Fichier : testmotor.py Projet : zoutei/SelfBalancingRobot

from dcmotor2 import dcmotor
import RPi.GPIO as GPIO
import time

motor = dcmotor(14, 15, 18)
motor.rotate(250)
time.sleep(5)
motor.rotate(500)
time.sleep(5)
motor.rotate(1000)
time.sleep(5)
motor.brake()

Exemple #2

Fichier : main.py Projet : zoutei/SelfBalancingRobot

from adxl345 import ADXL345
from mpu6050 import MPU6050
from dcmotor2 import dcmotor
from pid import PID
import math
import time

adxl345 = ADXL345()
mpu6050 = MPU6050()
lmotor = dcmotor(14, 15, 18)
rmotor = dcmotor(23, 24, 12)
pid = PID(2.0, 0, 0, 0, 0, 1024, -1024)
pid.setPoint(0.0)
xa = 0
za = 0
while True:
	for i in range(5):
		axesa = adxl345.getAxes(True)
		axesm = mpu6050.getAxes()
		xa = xa + axesa['x'] + axesm['x']
		za = za + axesa['z'] + axesm['z']
	x = xa/10
	z = za/10
	ang = math.atan2(z, math.fabs(x))
	print ang
	sped = pid.update(ang)
	print sped
	lmotor.rotate(sped)
	rmotor.rotate(sped)
	time.sleep(1)