def stop_motors():
motor = Motor(addr=0x60)
motor.getMotor(1).run(Motor.RELEASE)
motor.getMotor(2).run(Motor.RELEASE)
motor.getMotor(3).run(Motor.RELEASE)
motor.getMotor(4).run(Motor.RELEASE)
class RobotEngine:
MAX_SPEED = 100
def __init__(self):
self.left_speed = 0
self.right_speed = 0
self.current_speed = 0
# create a default object, no changes to I2C address or frequency
self.motor = Motor(addr=0x60)
# init motors
self.left_motor = self.motor.getMotor(2)
self.right_motor = self.motor.getMotor(3)
self.left_motor.run(Motor.FORWARD)
self.right_motor.run(Motor.FORWARD)
# turn on motor
self.left_motor.run(Motor.RELEASE)
self.right_motor.run(Motor.RELEASE)
def speed_motor_left(self, to_speed):
if to_speed > RobotEngine.MAX_SPEED:
to_speed = RobotEngine.MAX_SPEED
elif to_speed < -RobotEngine.MAX_SPEED:
to_speed = RobotEngine.MAX_SPEED
self.left_speed = abs(to_speed)
self.left_motor.setSpeed(self.left_speed)
return self.left_speed
def speed_motor_right(self, to_speed):
if to_speed > RobotEngine.MAX_SPEED:
to_speed = RobotEngine.MAX_SPEED
elif to_speed < -RobotEngine.MAX_SPEED:
to_speed = RobotEngine.MAX_SPEED
self.right_speed = abs(to_speed)
self.right_motor.setSpeed(self.right_speed)
return self.right_speed
def speed_motor(self, value_speed):
if value_speed >= 0:
self.left_motor.run(Motor.FORWARD)
self.right_motor.run(Motor.FORWARD)
else:
self.left_motor.run(Motor.BACKWARD)
self.right_motor.run(Motor.BACKWARD)
self.current_speed = value_speed
self.speed_motor_left(value_speed)
self.speed_motor_right(value_speed)
def turn(self, speed_turn):
if self.current_speed == 0:
if speed_turn > 0:
self.left_motor.run(Motor.FORWARD)
self.right_motor.run(Motor.BACKWARD)
if speed_turn < 0:
self.left_motor.run(Motor.BACKWARD)
self.right_motor.run(Motor.FORWARD)
self.speed_motor_left(speed_turn)
self.speed_motor_right(speed_turn)
else:
if speed_turn > 0:
self.speed_motor_right(self.right_speed - abs(speed_turn))
if speed_turn < 0:
self.speed_motor_left(self.left_speed - abs(speed_turn))
def stop(self):
self.speed_motor(0)
def off(self):
self.left_motor.run(Motor.RELEASE)
self.right_motor.run(Motor.RELEASE)
self.motor.getMotor(1).run(Motor.RELEASE)
self.motor.getMotor(2).run(Motor.RELEASE)
self.motor.getMotor(3).run(Motor.RELEASE)
self.motor.getMotor(4).run(Motor.RELEASE)