#!/usr/bin/python
import RoboPiLib as RoboPi
import time as time
INPUT = RoboPi.INPUT
OUTPUT = RoboPi.OUTPUT
PWM = RoboPi.PWM
SERVO = RoboPi.SERVO
MOTORA_IA = 12
MOTORA_IB = 13
MOTORB_IA = 14
MOTORB_IB = 15
RoboPi.RoboPiInit("/dev/ttyAMA0", 115200)
while 1:
# set both motors to go forward
RoboPi.pinMode(MOTORA_IA, PWM)
RoboPi.pinMode(MOTORA_IB, OUTPUT)
RoboPi.pinMode(MOTORB_IA, PWM)
RoboPi.pinMode(MOTORB_IB, OUTPUT)
# slowly ramp up the sped
for speed in xrange(0, 256, 2):
RoboPi.analogWrite(MOTORA_IA, speed)
RoboPi.analogWrite(MOTORB_IA, speed)
import RoboPiLib as RPL # (robotonomy setup.py)
from setup import RPL # (robotonomy README.md)
import time
RPL.RoboPiInit("/dev/ttyAMA0", 115200) # (robotonomy setup.py)
motorL = 1 # (robo-control control.py)
motorR = 0 # (robo-control control.py)
sensor_pin = 16 # (robotonomy basic.py)
RPL.servoWrite(motorR, 2000) # (robo-control control.py)
RPL.servoWrite(motorL, 1000) # (robo-control control.py)
RPL.pinMode(sensor_pin, RPL.INPUT) # (robo-control control.py)
while RPL.digitalRead(sensor_pin) == 1: # (robotonomy basic.py)
RPL.servoWrite(motorR, 2000) # (robo-control control.py)
RPL.servoWrite(motorL, 1000) # (robo-control control.py)
else:
RPL.servoWrite(motorR, 0) # (robo-control control.py)
RPL.servoWrite(motorL, 0) # (robo-control control.py)
import sys
import time
import os
try:
import RoboPiLib as RPL
RPL.RoboPiInit("dev/ttyAMA0", 115200)
except:
import RoboPiLibSub as RPL
print("ROBOPILIB HAS FAILED TO INITIALIZE! Loading substitute...")
time.sleep(2)
#DEFINITIONS================================================================================
#LOOP BOOLEANS------------------------------------------------------------------------------
#These determine what parts of the program loop run
l1 = True
l1_1 = False
l1_2 = False
#-------------------------------------------------------------------------------------------
#STRINGS------------------------------------------------------------------------------------
l1s1 = "-----===PIN_DIAGNOSTICS===-----"
l1s2 = "v0.0.1"
l1s3 = "---"
l1s4 = "0 - Exit"
l1s5 = "1 - Test ALL pins"
l1s6 = "2 - Test a specific pin"
l1_1s1 = "---=FULL PIN TEST=---"
l1_1s2 = "Testing motors by attempting a full speed move for one second each."
l1_1s3 = "Testing sensors by displaying output for five seconds each."
l1_2s1 = "---=INDIVIDUAL PIN TESTING=---"
forwardRightSpeedChange(100)
elif ch == "@":
forwardRightSpeedChange(-100)
elif ch == "3":
backwardLeftSpeedChange(-100)
elif ch == "#":
backwardLeftSpeedChange(100)
elif ch == "4":
backwardRightSpeedChange(-100)
elif ch == "$":
backwardRightSpeedChange(100)
else:
stopAll()
#Start with this
"""
import RoboPiLib as RPL
RPL.RoboPiInit("/dev/ttyAMA0",115200)
#Sensor
RPL.digitalRead()
# Move forward
RPL.servoWrite(0,1000)
RPL.servoWrite(1,2000)
# Move backward
RPL.servoWrite(0,2000)
RPL.servoWrite(1,1000)
# Pivot around left wheel
import RoboPiLib as RPL
import setup import RPL
RPL.RoboPiInit("/dev/ttyAMOA0",115200)
import sys, tty, termios, signal
#gets the motors going
motorL = 0
motorR = 2
sensor_pin = 18
nearby = RPL.digitalread(23)
robot = 0
while robot is 0:
if nearby is 0:
RPL.servowrite(motorL, 1000)
RPL.servowrite(motorR, 2000)
print "start"
if nearby is 1:
RPL.servowrite(motorL, 0)
RPL.servowrite(motorR, 0)
print "stop"
