def just_go_backward(speed):
# set left motor to go backward by GPIO and motor_module
setup.motor(setup.backward0, setup.Motor_Left_A, setup.Motor_Left_B)
GPIO.output(setup.Motor_Left_PWM, GPIO.HIGH)
# set right motor to go backward by GPIO and motor_module
setup.motor(setup.backward1, setup.Motor_Right_A, setup.Motor_Right_B)
GPIO.output(setup.Motor_Right_PWM, GPIO.HIGH)
# set left and right Pwm to get speed
setup.Left_Pwm.ChangeDutyCycle(speed)
setup.Right_Pwm.ChangeDutyCycle(speed)
def left_PointTurn(speed, running_time):
# set the left motor and pwm to go backward
setup.motor(setup.bakward0, setup.Motor_Left_A, setup.Motor_Left_B)
GPIO.output(setup.Motor_Left_PWM, GPIO.LOW)
# set the right motor and pwm to go forward
setup.motor(setup.forward1, setup.Motor_Right_A, setup.Motor_Right_B)
GPIO.output(setup.Motor_Right_PWM, GPIO.HIGH)
# set the speed of the left and right motor to go
setup.Left_Pwm.ChangeDutyCycle(speed)
setup.Right_Pwm.ChangeDutyCycle(speed)
# set the running time of the left and right motor
time.sleep(running_time)
def left_SwingTurn(speed, running_time):
# set the left motor pwm to stop = turn off
GPIO.output(setup.Motor_Left_PWM, GPIO.LOW)
# set the right motor and pwm to go forward
setup.motor(setup.forward0, setup.Motor_Right_A, setup.Motor_Right_B)
GPIO.output(setup.Motor_Right_PWM, GPIO.HIGH)
# set the speed of the left motor to stop
setup.Left_Pwm.ChangeDutyCycle(0)
# set the spedd of the right motor to go forward
setup.Right_Pwm.ChangeDutyCycle(speed)
# set the running tiem of the right motor to go forward
time.sleep(running_time)
def go_backward(speed, running_time):
# set left motor to go backward by GPIO and motor_module
setup.motor(setup.backward0, setup.Motor_Left_A, setup.Motor_Left_B)
GPIO.output(setup.Motor_Left_PWM, GPIO.HIGH)
# set right motor to go backward by GPIO and motor_module
setup.motor(setup.backward1, setup.Motor_Right_A, setup.Motor_Right_B)
GPIO.output(setup.Motor_Right_PWM, GPIO.HIGH)
# set left and right Pwm to get speed
setup.Left_Pwm.ChangeDutyCycle(speed)
setup.Right_Pwm.ChangeDutyCycle(speed)
# stop motor after running_time
time.sleep(running_time)
stop()