def begin(self):
wiringpi.pinMode(self.dir, wiringpi.OUTPUT)
wiringpi.pinMode(self.pwm, wiringpi.OUTPUT)
wiringpi.pinMode(self.brake, wiringpi.OUTPUT)
wiringpi.analogWrite(self.pwm, 0)
wiringpi.digitalWrite(self.brake, wiringpi.LOW)
def run(self, direction, speed):
if (direction == 1):
wiringpi.digitalWrite(self.dir, wiringpi.HIGH)
else:
wiringpi.digitalWrite(self.dir, wiringpi.LOW)
wiringpi.digitalWrite(self.brake, wiringpi.LOW)
wiringpi.analogWrite(self.pwm, speed)
def _analog_write(self, pin, val):
if self.board_type == '':
if self._supports_analog(pin):
wp.analogWrite(pin, val)
else:
self._digital_write(pin, val * 1023)
elif self.board_type == 'troyka_cap_ext':
self.exp.analogWrite(pin, val)
def __init__(self,
pin_number,
pin_mode,
active_low_mode,
pwm_max,
piglow=False,
led=None):
self.pin_number = pin_number
self.pwm = pin_mode
self.pwm_max = pwm_max
self.active_low_mode = active_low_mode
self.pwm_on = pwm_max * int(not active_low_mode)
self.pwm_off = pwm_max * int(active_low_mode)
self.inout = 'Not set'
self.always_on = False
self.always_off = False
self.inverted = False
self.is_led = False
self.led_m = led
if pin_number > 999:
self.is_led = True
self.pin_number -= 1000
self.action = lambda b: self.led_m.write(self.pin_number,
int(b * 255))
self.active_low_mode = False
else:
if self.pwm:
self.action = lambda b: wiringpi.softPwmWrite(
self.pin_number, int(b * self.pwm_max))
elif piglow:
self.action = lambda b: wiringpi.analogWrite(
self.pin_number + 577, int(b * 255))
else:
self.action = lambda b: wiringpi.digitalWrite(
self.pin_number, int(b > 0.5))
def release(self):
wiringpi.digitalWrite(self.brake, wiringpi.LOW)
wiringpi.analogWrite(self.pwm, 0)
def stop(self):
wiringpi.digitalWrite(self.brake, wiringpi.HIGH)
wiringpi.analogWrite(self.pwm, 255)
def _analog_write(self, pin, val):
if self._supports_analog(pin):
wp.analogWrite(pin, val)
else:
self._digital_write(pin, val * 1023)