rmotor = 1
d1 = 16
d2 = 17
while True:
d1read = RPL.digitalRead(d1)
d2read = RPL.digitalRead(d2)
if d1read == 1 and d2read == 1:
RPL.servoWrite(lmotor,1400)
RPL.servoWrite(rmotor,1600)
elif d1read == 0 and d2read == 0:
RPL.servoWrite(lmotor,0)
RPL.servoWrite(rmotor,0)
print('so long comerade')
exit()
elif d1read == 0 or d2read == 0:
RPL.servoWrite(lmotor,1500)
RPL.servoWrite(rmotor,1500)
PTW.state['d1'] = d1read
PTW.state['d2'] = d2read
PTW.state['m1'] = RPL.servoRead(lmotor)
PTW.state['m2'] = RPL.servoRead(rmotor)
PTW.post()
def stepclose():
RPL.servoWrite(0, I + 10)
RPL.servoWrite(1, J - 10)
print "step close"
print RPL.servoRead(0)
print RPL.servoRead(1)
def show():
print RPL.servoRead(0)
print RPL.servoRead(1)
def open():
RPL.servoWrite(0, 500)
RPL.servoWrite(1, 2500)
print "open"
print RPL.servoRead(0)
print RPL.servoRead(1)
def close():
RPL.servoWrite(0, 1000)
RPL.servoWrite(1, 2000)
print "close"
print RPL.servoRead(0)
print RPL.servoRead(1)
def R_RN():
RPL.servoRead(R_Pin)
print R_RN
RPL.servoWrite(0, 500)
RPL.servoWrite(1, 2500)
print "open"
print RPL.servoRead(0)
print RPL.servoRead(1)
def close():
RPL.servoWrite(0, 1000)
RPL.servoWrite(1, 2000)
print "close"
print RPL.servoRead(0)
print RPL.servoRead(1)
i = RPL.servoRead(0)
j = RPL.servoRead(1)
def stepclose():
RPL.servoWrite(0, I + 10)
RPL.servoWrite(1, J - 10)
print "step close"
print RPL.servoRead(0)
print RPL.servoRead(1)
def show():
print RPL.servoRead(0)
print RPL.servoRead(1)
def printpos():
print RPL.servoRead(0)
print RPL.servoRead(1)
def L_RN():
RPL.servoRead(L_Pin)
print L_RN
def servo1down(dir):
if (dir == 'go'):
a = RPL.servoRead(servo1)
RPL.servoWrite(servo1, max(600, a - 50))
import post_to_web as PTW
sensor_pin = 16
RPL.pinMode(sensor_pin, RPL.INPUT)
running = True
braking = False
m1Speed = 1400
m2Speed = 1600
while running:
reading = RPL.digitalRead(sensor_pin)
if reading == 0:
braking = True
if braking == True and m1Speed != 1500 and m2Speed != 1500:
print("If statement fired")
m1Speed += 10
m2Speed -= 10
if m1Speed == 1500 and m2Speed == 1500:
m1Speed = 00
m2Speed = 00
running = False
RPL.servoWrite(0, m1Speed)
RPL.servoWrite(1, m2Speed)
PTW.state['d1'] = RPL.digitalRead(sensor_pin)
PTW.state['d2'] = RPL.servoRead(0)
PTW.state['d3'] = RPL.servoRead(1)
PTW.post()
def servo1up(dir): # Wrist pitch
if (dir == 'go'):
a = RPL.servoRead(servo1)
RPL.servoWrite(servo1, min(a + 50, 2400))
def show():
print("left Motor is at", RPL.servoRead(0))
print("Right Motor is at", RPL.servoRead(1))
def bigstepclose():
RPL.servoWrite(0, RPL.servoRead(0) + 20)
RPL.servoWrite(1, RPL.servoRead(1) - 20)
print "big step open"
def stepclose():
RPL.servoWrite(0, RPL.servoRead(0) + 5)
RPL.servoWrite(1, RPL.servoRead(1) - 5)
print "step open"
import setup
import RoboPiLib as RPL
import time
x = 0
start = 3000
left = 600
# read whether the motor is at 3000 or 600
# make the motor turn to the other, based on
motor = RPL.servoRead(0)
if motor == start:
RPL.servoWrite(0, left)
elif motor == left:
RPL.servoWrite(0, start)
else:
print "WRONG"
