def servo_init(): global p GPIO_NO = 6 GPIO.setmode(GPIO.BCM) GPIO.setup(GPIO_NO,GPIO.OUT) p = GPIO.PWM(GPIO_NO,50) #sets pin 21 to PWM and sends 50 signals per second p.start(7.5) #starts by sending a pulse at 7.5% to center the servo
def wait_BCM_initalized(self): if False == RMS.bcm_initialized_from_other: print("BCM has not initialized yet") time.sleep(1) return #GPIO.setwarnings(False) #GPIO.setmode(GPIO.BCM) #GPIO.cleanup() print "Distance Measurement In Progress" GPIO.setup(self.TRIG,GPIO.OUT) GPIO.setup(self.ECHO,GPIO.IN)
def test_left_wheel(): M1A_ENABLE_GPIO = 14 M1A_INPUT1_GPIO = 23 M1A_INPUT2_GPIO = 24 # initialize GPIO #front - left GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT) GPIO.output(M1A_INPUT1_GPIO, True) GPIO.output(M1A_INPUT2_GPIO, False) GPIO.output(M1A_ENABLE_GPIO, True) time.sleep(1) GPIO.output(M1A_ENABLE_GPIO, False) GPIO.output(M1A_INPUT1_GPIO, False) GPIO.output(M1A_INPUT2_GPIO, True) GPIO.output(M1A_ENABLE_GPIO, True) time.sleep(2) # stop GPIO.output(M1A_INPUT1_GPIO, False) GPIO.output(M1A_INPUT2_GPIO, False)
def front_test_right_wheel(dir, enable): M2A_ENABLE_GPIO = 4 M2A_INPUT1_GPIO = 11 M2A_INPUT2_GPIO = 10 #front - right GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT) if dir == FORWARD: GPIO.output(M2A_INPUT1_GPIO, True) GPIO.output(M2A_INPUT2_GPIO, False) else: GPIO.output(M2A_INPUT1_GPIO, False) GPIO.output(M2A_INPUT2_GPIO, True) if enable == True: GPIO.output(M2A_ENABLE_GPIO, True) else: GPIO.output(M2A_ENABLE_GPIO, False)
def rear_test_left_wheel(dir, enable): M2A_ENABLE_GPIO = 14 M2A_INPUT1_GPIO = 23 M2A_INPUT2_GPIO = 24 #front - right GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT) if dir == FORWARD: GPIO.output(M2A_INPUT1_GPIO, True) GPIO.output(M2A_INPUT2_GPIO, False) else: GPIO.output(M2A_INPUT1_GPIO, False) GPIO.output(M2A_INPUT2_GPIO, True) if enable == True: GPIO.output(M2A_ENABLE_GPIO, True) else: GPIO.output(M2A_ENABLE_GPIO, False)
def test_wheel(): M1A_ENABLE_GPIO = 14 M1A_INPUT1_GPIO = 23 M1A_INPUT2_GPIO =24 GPIO.setmode(10) GPIO.setmode(GPIO.BCM) #front - left GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT) GPIO.output(M1A_INPUT1_GPIO, True) GPIO.output(M1A_INPUT2_GPIO, False) time.sleep(2) # stop GPIO.output(M1A_INPUT1_GPIO, False) GPIO.output(M1A_INPUT2_GPIO, False)
def port_init(): GPIO.setmode(10) GPIO.setmode(GPIO.BCM) # front - left GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT) #pwm = GPIO.PWM(M1A_ENABLE_GPIO, 500) #pwm.start(0) # front - right GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT) # rear - left GPIO.setup(M3A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M3A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M3A_INPUT2_GPIO, GPIO.OUT) # rear - right GPIO.setup(M4A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M4A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M4A_INPUT2_GPIO, GPIO.OUT)
def motor_gpio_init(): # initialize GPIO # front - left GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT) # pwm = GPIO.PWM(M1A_ENABLE_GPIO, 500) # pwm.start(0) # front - right GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT) # rear - left GPIO.setup(M3A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M3A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M3A_INPUT2_GPIO, GPIO.OUT) # rear - right GPIO.setup(M4A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M4A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M4A_INPUT2_GPIO, GPIO.OUT)
def test_pwm(speed): #define GPIO for controlling #front # front - left GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT) # front - right GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT) GPIO.output(M1A_ENABLE_GPIO,True) pwm1 = GPIO.PWM(M1A_ENABLE_GPIO, 10) # freq 10Hz pwm1.start(0) # start with zero duty cycle GPIO.output(M1A_ENABLE_GPIO, True) pwm2 = GPIO.PWM(M2A_ENABLE_GPIO, 10) # duty cycle 0 - 100 % pwm2.start(0) for x in range(1, 10): print "duty cycle =", x * 10, "%" pwm1.ChangeDutyCycle(x * 10) pwm2.ChangeDutyCycle(x * 10) time.sleep(1)
def port_init(): # initialize GPIO GPIO.setwarnings(False) GPIO.setmode(GPIO.BCM) GPIO.cleanup() # front - left GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT) # pwm = GPIO.PWM(M1A_ENABLE_GPIO, 500) # pwm.start(0) # front - right GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT) # rear - left GPIO.setup(M3A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M3A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M3A_INPUT2_GPIO, GPIO.OUT) # rear - right GPIO.setup(M4A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M4A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M4A_INPUT2_GPIO, GPIO.OUT)
def test_pwm(): #define GPIO for controlling #front M1A_ENABLE_GPIO = 18 M1A_INPUT1_GPIO = 23 M1A_INPUT2_GPIO =24 M2A_ENABLE_GPIO = 18 M2A_INPUT1_GPIO = 23 M2A_INPUT2_GPIO =24 #rear M1A_ENABLE_GPIO = 18 M1A_INPUT1_GPIO = 23 M1A_INPUT2_GPIO =24 GPIO.setmode(10) GPIO.setmode(GPIO.BCM) #front - left GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT) pwm = GPIO.PWM(M1A_ENABLE_GPIO, 500) pwm.start(0) #front - right GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT) pwm = GPIO.PWM(M2A_ENABLE_GPIO, 500) pwm.start(0)
def motor_gpio_init(): # initialize GPIO # front - left GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT) # pwm = GPIO.PWM(M1A_ENABLE_GPIO, 500) # pwm.start(0) # front - right GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT) # rear - left GPIO.setup(M3A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M3A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M3A_INPUT2_GPIO, GPIO.OUT) # rear - right GPIO.setup(M4A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M4A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M4A_INPUT2_GPIO, GPIO.OUT)
def test_pwm(speed): #define GPIO for controlling #front #front - left GPIO.setup(M1A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M1A_INPUT2_GPIO, GPIO.OUT) #front - right GPIO.setup(M2A_ENABLE_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT1_GPIO, GPIO.OUT) GPIO.setup(M2A_INPUT2_GPIO, GPIO.OUT) GPIO.output(M1A_ENABLE_GPIO,True) pwm1 = GPIO.PWM(M1A_ENABLE_GPIO, 10) pwm1.start(0) pwm2 = GPIO.PWM(M2A_ENABLE_GPIO, 10) pwm2.start(0) for x in range(1,10): pwm1.ChangeDutyCycle(x * 10) pwm2.ChangeDutyCycle(x * 10) time.sleep(1)