def handleIote2eResult(self, iote2eResult ):
actuatorValue = iote2eResult.pairs['actuatorValue'];
logger.info('actuatorValue {}'.format(actuatorValue))
if 'off' == actuatorValue:
MOTOR.dcSTOP(0,3)
elif 'on' == actuatorValue:
MOTOR.dcSTART(0,3)
def __init__(self, min_speed=25):
# make the motor banks
self._LEFT = [
Motor(0, 1, 'cw', 'ccw'),
Motor(0, 2, 'cw', 'ccw'),
Motor(0, 3, 'cw', 'ccw')
]
self._RIGHT = [
Motor(1, 1, 'ccw', 'cw'),
Motor(1, 2, 'ccw', 'cw'),
Motor(1, 3, 'ccw', 'cw')
]
# get the motors ready to run
for m in self._LEFT:
MOTOR.dcCONFIG(m._address, m._number, m.direction, 0,
m._acceleration)
print("Starting motors at speed 0.")
MOTOR.dcSTART(m._address, m._number)
m._stopped = False
for m in self._RIGHT:
MOTOR.dcCONFIG(m._address, m._number, m.direction, 0,
m._acceleration)
print("Starting motors at speed 0.")
MOTOR.dcSTART(m._address, m._number)
m._stopped = False
def motor(motor_number, value):
print str(value)
MOTOR.dcSPEED(2, motor_number, value)
if (value > 20):
MOTOR.dcSTART(2, motor_number)
else:
MOTOR.dcSTOP(2, motor_number)
return render_template('home.html')
def initMotor(FLdir,FRdir,RLdir,RRdir):
#print("Setting: ",rotation)
MOTOR.dcCONFIG(ctl,FL,FLdir,0.0,0.0)
MOTOR.dcCONFIG(ctl,FR,FRdir,0.0,0.0)
MOTOR.dcCONFIG(ctl,RL,RLdir,0.0,0.0)
MOTOR.dcCONFIG(ctl,RR,RRdir,0.0,0.0)
MOTOR.dcSTART(ctl,FL)
MOTOR.dcSTART(ctl,FR)
MOTOR.dcSTART(ctl,RL)
MOTOR.dcSTART(ctl,RR)
if (FLdir == FRdir == RLdir == RRdir == "cw") :
status = "forward"
return
elif (FLdir == FRdir == RLdir == RRdir == "ccw"):
status = "reverse"
return
elif (FLdir == RLdir == "cw" and FRdir == RRdir == "ccw"):
status = "left"
elif (FLdir == RLdir == "ccw" and FRdir == RRdir == "cw"):
status = "right"
else:
status = 'something not right'
return status
def right(FLspeed,FRspeed,RLspeed,RRspeed):
status = initMotor('cw','ccw','cw','ccw')
MOTOR.dcSTART(ctl,FL)
MOTOR.dcSTART(ctl,FR)
MOTOR.dcSTART(ctl,RL)
MOTOR.dcSTART(ctl,RR)
status = 'right'
return status
def reverse(FLspeed,FRspeed,RLspeed,RRspeed):
#print("Reverse motion called. CTL: ")
status = initMotor('ccw','ccw','ccw','ccw')
MOTOR.dcSTART(ctl, FL)
MOTOR.dcSTART(ctl, FR)
MOTOR.dcSTART(ctl, RL)
MOTOR.dcSTART(ctl, RR)
status = "reverse"
return status
def fwd(FLspeed,FRspeed,RLspeed,RRspeed):
# print("Forward motion called. CTL: ",ctl)
status = initMotor('cw','cw','cw','cw')
MOTOR.dcSTART(ctl, FL)
MOTOR.dcSTART(ctl, FR)
MOTOR.dcSTART(ctl, RL)
MOTOR.dcSTART(ctl, RR)
status = "forward"
return status
def reverse(self, increment):
# decrease forward speed of both banks
for m in self._LEFT + self._RIGHT:
if m._stopped:
MOTOR.dcCONFIG(m._address, m._number, m.direction, 0,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
tmp = m.speed - increment
if tmp >= 0 and m.direction == m._forward:
new_speed = min([100, tmp])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = new_speed
if tmp >= 0 and m.direction == m._reverse:
m.direction = m._forward
new_speed = min([100, tmp])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = new_speed
if tmp < 0 and m.direction == m._forward:
m.direction = m._reverse
new_speed = min([100, abs(tmp)])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = -new_speed
if tmp < 0 and m.direction == m._reverse:
new_speed = min([100, abs(tmp)])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = -new_speed
print("motor: {0}, {1} speed: {2} direction: {3}".format(
m._address, m._number, m.speed, m.direction))
def start(self, msg):
MOTOR.dcCONFIG(config.ADDR, msg['motor'], msg['dir'], msg['speed'],
msg['acc'])
MOTOR.dcSTART(config.ADDR, msg['motor'])
def __init__(self,MotorNumber):
self.Motor_Number = MotorNumber
MOTOR.dcCONFIG(0,self.Motor_Number,self.Direction,self.DutyCycle,self.Acceleration) # dcCONFIG(addr,motor,dir,speed,acceleration)
MOTOR.dcSTART(0,self.Motor_Number) # dcSTART(addr,motor)
def right(self, increment):
# decrease speed of right bank
for m in self._RIGHT:
if m._stopped:
MOTOR.dcCONFIG(m._address, m._number, m.direction, 0,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
tmp = m.speed - increment
if tmp >= 0 and m.direction == m._forward:
new_speed = min([tmp, 100])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = new_speed
elif tmp < 0 and m.direction == m._forward:
m.direction = m._reverse
new_speed = min([abs(tmp), 100])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = -new_speed
elif tmp < 0 and m.direction == m._reverse:
new_speed = min([abs(tmp), 100])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = -new_speed
elif tmp >= 0 and m.direction == m._reverse:
m.direction = m._forward
new_speed = min([tmp, 100])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = -new_speed
print("motor: {0}, {1} speed: {2} direction: {3}".format(
m._address, m._number, m.speed, m.direction))
# increase speed of left bank
for m in self._LEFT:
if m._stopped:
MOTOR.dcCONFIG(m._address, m._number, m.direction, 0,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
tmp = m.speed + increment
if tmp >= 0 and m.direction == m._forward:
new_speed = min([tmp, 100])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = new_speed
elif tmp >= 0 and m.direction == m._reverse:
m.direction = m._forward
new_speed = min([tmp, 100])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = new_speed
elif tmp < 0 and m.direction == m._reverse:
new_speed = min([abs(tmp), 100])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = -new_speed
elif tmp < 0 and m.direction == m._forward:
m.direction = m._reverse
new_speed = min([abs(tmp), 100])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = -new_speed
print("motor: {0}, {1} speed: {2} direction: {3}".format(
m._address, m._number, m.speed, m.direction))
def motorStart(self, plate, motor, dir, speed, accel):
MOTOR.dcCONFIG(self.plate, motor, dir, speed, accel)
MOTOR.dcSTART(self.plate, motor)
import RPi.GPIO as GPIO import time import piplates.RELAYplate as RELAY import piplates.MOTORplate as MOTOR MOTOR.dcCONFIG(2, 1, 'ccw', 0.0, 2.5) MOTOR.dcSTART(2, 1) time.sleep(5) MOTOR.dcSPEED(2, 1, 80.0) MOTOR.dcSTART(2, 1) RELAY.getID(0) print "on" RELAY.relayON(0, 3) time.sleep(3) print "off" RELAY.relayOFF(0, 3) MOTOR.dcSTOP(2, 1)
def move_track(self, motor_number, direction, speed):
MOTOR.dcSTOP(0, motor_number)
MOTOR.dcCONFIG(0, motor_number, direction, speed, 0)
MOTOR.dcSTART(0, motor_number)
