def __init__(self):
self.in1 = GPIOPin(23)
self.in1.setFunction(gpio.OUT, 0)
self.in2 = GPIOPin(24)
self.in2.setFunction(gpio.OUT, 0)
self.enA = GPIOPin(18)
self.enA.pwmInit(10) # Frequency is set to 10
self.enA.pwmStart(0) # Initial duty cycle is 0
self.in3 = GPIOPin(21)
self.in3.setFunction(gpio.OUT, 0)
self.in4 = GPIOPin(20)
self.in4.setFunction(gpio.OUT, 0)
self.enB = GPIOPin(16)
self.enB.pwmInit(10)
self.enB.pwmStart(0)
self.speed = 0
class MotorControllor:
_instance = None
@staticmethod
def getInstance():
if MotorControllor._instance is None:
MotorControllor._instance = MotorControllor()
return MotorControllor._instance
def __init__(self):
self.in1 = GPIOPin(23)
self.in1.setFunction(gpio.OUT, 0)
self.in2 = GPIOPin(24)
self.in2.setFunction(gpio.OUT, 0)
self.enA = GPIOPin(18)
self.enA.pwmInit(10) # Frequency is set to 10
self.enA.pwmStart(0) # Initial duty cycle is 0
self.in3 = GPIOPin(21)
self.in3.setFunction(gpio.OUT, 0)
self.in4 = GPIOPin(20)
self.in4.setFunction(gpio.OUT, 0)
self.enB = GPIOPin(16)
self.enB.pwmInit(10)
self.enB.pwmStart(0)
self.speed = 0
def runMotor(self, motorId, direction, speed=1, freq=DEFAULT_PWM_FREQ):
if speed > MAX_SPEED:
speed = MAX_SPEED
self.speed = abs(speed)
if motorId == FRONT_LEFT:
self.enA.pwmChangeDutyCycle(speed * 10.0)
if direction == FORWD:
self.in1.output(gpio.HIGH)
self.in2.output(gpio.LOW)
else:
self.in1.output(gpio.LOW)
self.in2.output(gpio.HIGH)
elif motorId == FRONT_RIGHT:
self.enB.pwmChangeDutyCycle(speed * 10.0)
if direction == FORWD:
self.in3.output(gpio.HIGH)
self.in4.output(gpio.LOW)
else:
self.in3.output(gpio.LOW)
self.in4.output(gpio.HIGH)
def stopMotor(self, motorId):
if motorId == FRONT_LEFT:
self.in1.output(gpio.HIGH)
self.in2.output(gpio.HIGH)
elif motorId == FRONT_RIGHT:
self.in3.output(gpio.HIGH)
self.in4.output(gpio.HIGH)
def runFrontLeft(self, speed=1):
direction = FORWD if speed > 0 else BACKW
self.runMotor(FRONT_LEFT, direction, abs(speed))
self.speed = abs(speed)
def runFrontRight(self, speed=1):
direction = FORWD if speed > 0 else BACKW
self.runMotor(FRONT_RIGHT, direction, abs(speed))
self.speed = abs(speed)
def stopFrontLeft(self):
self.stopMotor(FRONT_LEFT)
def stopFrontRight(self):
self.stopMotor(FRONT_RIGHT)
def shutDownAll(self):
self.stopMotor(FRONT_LEFT)
self.stopMotor(FRONT_RIGHT)
self.speed = 0
