/
MotorDriver.py
executable file
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/
MotorDriver.py
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#!/usr/bin/env python
import threading
import time
from Globals import Globals
from Observable import Observable
try:
import wiringpi
except:
print "wiringpi not found, switching to simulation"
Globals.globSimulate = True
# Don't touch these
LEFT_L = 0
LEFT_R = 1
RIGHT_L = 2
RIGHT_R = 3
VERT_L = 4
VERT_R = 5
GPIO_INPUT = 0
GPIO_OUTPUT = 1
GPIO_PWM = 2
UPDATEINTERVAL = 0.01 # seconds
MAXIDLE = 0.3 # seconds
class MotorDriver(threading.Thread, Observable):
keepRunning = True
pwmValue = 700
lastHorizontalChange = 0
lastVerticalChange = 0
debug = False
singleSteerMode = False
# left, right, vert motors
motorPins = []
pinValues = [False] * 6
def __init__(self, pins):
threading.Thread.__init__(self)
Observable.__init__(self)
if len(pins) != 6:
raise "MotorDriver needs 6 pins"
self.motorPins = pins
if not Globals.globSimulate:
for pn in range(0, 6):
pin = self.motorPins[pn]
wiringpi.pinMode(pin, GPIO_OUTPUT)
wiringpi.pinMode(18, GPIO_PWM)
wiringpi.pwmWrite(18, self.pwmValue)
def sendToRPi(self):
for pn in range(0, 6):
pin = self.motorPins[pn]
val = self.pinValues[pn]
if not Globals.globSimulate:
wiringpi.digitalWrite(pin, 1 if val else 0)
if not Globals.globSimulate:
wiringpi.pwmWrite(18, self.pwmValue)
if self.debug:
print "Sent to RPi: pinValues(%s) pwmValue(%s)" % (self.pinValues, self.pwmValue)
def setPin(self, pinName, val):
self.pinValues[pinName] = val
now = time.time()
if pinName == VERT_L or pinName == VERT_R:
self.lastVerticalChange = now
else:
self.lastHorizontalChange = now
self.emit("MotorDriver", self)
def setSpeed(self, val):
self.pwmValue = max(min(val, 1023), 0)
self.emit("MotorDriver", self)
def setSingleSteerMode(self, val):
self.singleSteerMode = val
self.emit("MotorDriver", self)
def getSingleSteerMode(self):
return self.singleSteerMode
def statusByPin(self, l, r):
if self.pinValues[l] == self.pinValues[r]:
return "stop"
if self.pinValues[l]:
return "backward"
return "forward"
def statusLeft(self):
return self.statusByPin(LEFT_L, LEFT_R)
def statusRight(self):
return self.statusByPin(RIGHT_L, RIGHT_R)
def statusVert(self):
return self.statusByPin(VERT_L, VERT_R)
def getPWM(self):
return self.pwmValue
def _leftForward(self):
self.setPin(LEFT_L, False) ; self.setPin(LEFT_R, True)
def _leftBackward(self):
self.setPin(LEFT_R, False) ; self.setPin(LEFT_L, True)
def _leftStop(self):
self.setPin(LEFT_R, False) ; self.setPin(LEFT_L, False)
def _rightForward(self):
self.setPin(RIGHT_L, False) ; self.setPin(RIGHT_R, True)
def _rightBackward(self):
self.setPin(RIGHT_R, False) ; self.setPin(RIGHT_L, True)
def _rightStop(self):
self.setPin(RIGHT_R, False) ; self.setPin(RIGHT_L, False)
def _vertForward(self):
self.setPin(VERT_L, False) ; self.setPin(VERT_R, True)
def _vertBackward(self):
self.setPin(VERT_R, False) ; self.setPin(VERT_L, True)
def _vertStop(self):
self.setPin(VERT_R, False) ; self.setPin(VERT_L, False)
def turnLeft(self):
self._rightForward()
if not self.singleSteerMode:
self._leftBackward()
def turnRight(self):
self._leftForward()
if not self.singleSteerMode:
self._rightBackward()
def forward(self):
self._leftForward() ; self._rightForward()
def backward(self):
self._leftBackward() ; self._rightBackward()
def up(self):
self._vertForward()
def down(self):
self._vertBackward()
def increasePWM(self, d = 20):
self.setSpeed(self.pwmValue + d)
def decreasePWM(self, d = 20):
self.setSpeed(self.pwmValue - d)
def stop(self):
self.stopVertical()
self.stopHorizontal()
def stopVertical(self):
self._vertStop()
def stopHorizontal(self):
self._leftStop()
self._rightStop()
def shutdown(self):
self.keepRunning = False
self.stop()
self.sendToRPi()
def run(self):
while self.keepRunning:
now = time.time()
if self.lastVerticalChange + MAXIDLE < now:
self.stopVertical()
if self.lastHorizontalChange + MAXIDLE < now:
self.stopHorizontal()
self.sendToRPi()
time.sleep(UPDATEINTERVAL)
if __name__ == '__main__':
Globals.globSimulate = True
delay = 0.1
md = MotorDriver([1,2,3,4,5,6]) #Fake values
md.debug = True
md.start()
md.turnLeft() ; time.sleep(delay)
md.turnRight() ; time.sleep(delay)
md.forward() ; time.sleep(delay)
md.backward() ; time.sleep(delay)
md.up() ; time.sleep(delay)
md.down() ; time.sleep(delay)
md.stop() ; time.sleep(delay)
md.shutdown()
md.join()