def brake(delaytime):
GPIO.output(IN1, GPIO.LOW)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.LOW)
GPIO.output(IN4, GPIO.LOW)
pwm_ENA.ChangeDutyCycle(50)
pwm_ENB.ChangeDutyCycle(50)
time.sleep(delaytime)
def spin_right(delaytime):
GPIO.output(IN1, GPIO.HIGH)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.LOW)
GPIO.output(IN4, GPIO.HIGH)
pwm_ENA.ChangeDutyCycle(50)
pwm_ENB.ChangeDutyCycle(50)
time.sleep(delaytime)
def run(delaytime):
GPIO.output(IN1, GPIO.HIGH)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.HIGH)
GPIO.output(IN4, GPIO.LOW)
pwm_ENA.ChangeDutyCycle(50)
pwm_ENB.ChangeDutyCycle(50)
time.sleep(delaytime)
print("Move 1 block")
from simulator import GPIO GPIO.cleanup()
def motor_init():
global pwm_ENA
global pwm_ENB
global delaytime
GPIO.setup(ENA,GPIO.OUT,initial=GPIO.HIGH)
GPIO.setup(IN1,GPIO.OUT,initial=GPIO.LOW)
GPIO.setup(IN2,GPIO.OUT,initial=GPIO.LOW)
GPIO.setup(ENB,GPIO.OUT,initial=GPIO.HIGH)
GPIO.setup(IN3,GPIO.OUT,initial=GPIO.LOW)
GPIO.setup(IN4,GPIO.OUT,initial=GPIO.LOW)
#Set the PWM pin and frequency is 2000hz
pwm_ENA = GPIO.PWM(ENA, 2000)
pwm_ENB = GPIO.PWM(ENB, 2000)
pwm_ENA.start(0)
pwm_ENB.start(0)
#-*- coding:UTF-8 -*-
# import RPi.GPIO as GPIO
from simulator import GPIO
import time
#Definition of motor pin
IN1 = 20
IN2 = 21
IN3 = 19
IN4 = 26
ENA = 16
ENB = 13
#Set the GPIO port to BCM encoding mode
GPIO.setmode(GPIO.BCM)
#Ignore warning information
GPIO.setwarnings(False)
#Motor pin initialization operation
def motor_init():
global pwm_ENA
global pwm_ENB
global delaytime
GPIO.setup(ENA,GPIO.OUT,initial=GPIO.HIGH)
GPIO.setup(IN1,GPIO.OUT,initial=GPIO.LOW)
GPIO.setup(IN2,GPIO.OUT,initial=GPIO.LOW)
GPIO.setup(ENB,GPIO.OUT,initial=GPIO.HIGH)
GPIO.setup(IN3,GPIO.OUT,initial=GPIO.LOW)
GPIO.setup(IN4,GPIO.OUT,initial=GPIO.LOW)
#Set the PWM pin and frequency is 2000hz