def initializeMotors(self):
# Motors
self.leftMotor = Motors.Motor(self.leftMotorPin1, self.leftMotorPin2,
self.leftMotorEnablePin, 200, "forward",
0, 1)
self.leftMotor.startMotor()
self.leftMotor.setDirection()
self.leftMotor.setSpeed()
self.rightMotor = Motors.Motor(self.rightMotorPin1,
self.rightMotorPin2,
self.rightMotorEnablePin, 200,
"forward", 0, 1)
self.rightMotor.startMotor()
self.rightMotor.setDirection()
self.rightMotor.setSpeed()
def __init__(self):
rospy.init_node('IO_Interface', anonymous=False)
# pub = rospy.Publisher('IO_Interface/', String, queue_size=10)
#create motors
self.motor_1 = Motors.Motor(motorID='t1', pin = 1, pwm_output = 0)
self.motor_2 = Motors.Motor(motorID='t2', pin = 2, pwm_output = 0)
self.motor_3 = Motors.Motor(motorID='t3', pin = 3, pwm_output = 0)
self.motor_4 = Motors.Motor(motorID='t4', pin = 4, pwm_output = 0)
#create inu sensors
self.mpu = IMU.Inertia_Measurement_Unit('mpu')
self.lsm = IMU.Inertia_Measurement_Unit('lsm')
#create led output
self.led = Led.Navio2_LED()
return "415 Unsupported Media Type"
if __name__ == "__main__":
GPIO.setmode(GPIO.BOARD)
try:
# Set up logging
multiprocessing.log_to_stderr()
logger = multiprocessing.get_logger()
logger.setLevel(logging.INFO)
# Motors
leftMotor = Motors.Motor(33, 35, 37, 200, "forward", 0, 1)
leftMotor.startMotor()
leftMotor.setDirection()
leftMotor.setSpeed()
rightMotor = Motors.Motor(31, 29, 32, 200, "forward", 0, 1)
rightMotor.startMotor()
rightMotor.setDirection()
rightMotor.setSpeed()
app.run(host="0.0.0.0", debug=1)
while True:
pass
except KeyboardInterrupt:
print("parent received control-c")
except:
