class DC:
def __init__(self):
"""
DC maps DragonBoard 410c GPIO pins for Debian to the L293N H-Bridge I/C, ready to receive control
messages from Manager.py.
Green wire : Pin 23 -> OpAmp Node 1 -> L298N h-bridge Input 2
White wire : Pin 24 -> OpAmp Node 4 -> L298N h-bridge Enable A
Yellow wire : Pin 26 -> OpAmp Node 3 -> L298N h-bridge Input 1
Set Input 2 to Low, Input 1 to High for clockwise spin.
"""
self.gp = GPIOProcessor()
# h-bridge
self.green = self.gp.getPin23()
self.white = self.gp.getPin24()
self.yellow = self.gp.getPin26()
self.green.out()
self.white.out()
self.yellow.out()
# clockwise
self.green.low() # Input 2
self.yellow.high() # Input 1
self.isPropSpinning = False
def start_motor(self):
"""
Set Enable A to High to start motor.
:rtype: Boolean
:return: True if motor started, False if failed.
"""
try:
self.white.low()
self.white.high()
self.isPropSpinning = True
return True
except KeyboardInterrupt():
print "Keyboard interrupt received. Cleaning up ..."
self.gp.cleanup()
return False
def stop_motor(self):
"""
Set Enable A to Low to stop motor.
:rtype: Boolean
:return: True if motor stopped, False if failed.
"""
try:
self.white.low()
self.isPropSpinning = False
return True
except KeyboardInterrupt():
print "Keyboard interrupt received. Cleaning up ..."
self.gp.cleanup()
from GPIOLibrary import GPIOProcessor
import time
GP = GPIOProcessor()
try:
Pin23 = GP.getPin23()
Pin23.out()
Pin25 = GP.getPin25()
Pin25.out()
Pin27 = GP.getPin27()
Pin27.out()
Pin31 = GP.getPin31()
Pin31.out()
print("Pins are set to output")
for i in range(0, 20):
if Pin23.getValue() == 1:
Pin23.low()
Pin25.high()
elif Pin25.getValue() == 1:
Pin25.low()
Pin27.high()
elif Pin27.getValue() == 1:
Pin27.low()
Pin31.high()
elif Pin31.getValue() == 1:
import socket
# import time
MAGIC = "face600d"
server_socket = socket.socket()
server_host = '192.168.43.20'
server_port = 5002
server_socket.bind((server_host, server_port))
server_socket.listen(5)
c,addr = server_socket.accept()
try:
# Stepper Motor Controls
A1 = GP.getPin23() # blue
A2 = GP.getPin24() # pink
B1 = GP.getPin25() # yellow
B2 = GP.getPin26() # orange
A1.out()
A2.out()
B1.out()
B2.out()
# Delay time
T = 0.001
# Stepper Sequence (Forward ; Reverse)
SS = [[[1,1,0,0],[0,1,1,0],[0,0,1,1],[1,0,0,1]],
[[1,0,0,1],[0,0,1,1],[0,1,1,0],[1,1,0,0]]]