def main():
# import time
#
# print "********************************************"
# print "* *"
# print "* SunFounder TB6612 *"
# print "* *"
# print "* Connect MA to BCM17 -> 20 *"
# print "* Connect MB to BCM18 -> 16 *"
# print "* Connect PWMA to BCM27 -> 12 *"
# print "* Connect PWMB to BCM22 -> 26 *"
# print "* *"
# print "********************************************"
GPIO.setmode(GPIO.BCM)
GPIO.setup((12, 26), GPIO.OUT)
a = GPIO.PWM(12, 60)
b = GPIO.PWM(26, 60)
a.start(0)
b.start(0)
def a_speed(value):
a.ChangeDutyCycle(value)
def b_speed(value):
b.ChangeDutyCycle(value)
motorA = TB6612.Motor(20)
motorB = TB6612.Motor(16)
# motorA.debug = True
# motorB.debug = True
motorA.pwm = a_speed
motorB.pwm = b_speed
inkey = _Getch()
while (1):
k = inkey()
if k != '': break
if k == '\x1b[A':
print("forward")
motorA.forward()
motorA.speed = 100
motorB.forward()
motorB.speed = 100
elif k == '\x1b[B':
print("backward")
motorA.backward()
motorA.speed = 100
motorB.backward()
motorB.speed = 100
elif k == '\x1b[C':
print("right")
motorA.backward()
motorA.speed = 100
motorB.forward()
motorB.speed = 100
elif k == '\x1b[D':
print("left")
motorA.forward()
motorA.speed = 100
motorB.backward()
motorB.speed = 100
# elif k==',':
# print("<")
# elif k=='.':
# print(">")
else:
print("not an arrow key!")
def main(): import time GPIO.setwarnings(False) GPIO.setmode(GPIO.BCM) GPIO.setup((12, 26), GPIO.OUT) a = GPIO.PWM(12, 60) b = GPIO.PWM(26, 60) a.start(0) b.start(0) def a_speed(value): a.ChangeDutyCycle(value) def b_speed(value): b.ChangeDutyCycle(value) motorA = TB6612.Motor(20) motorB = TB6612.Motor(16) # motorA.debug = True # motorB.debug = True motorA.pwm = a_speed motorB.pwm = b_speed delay = 0.05 while(1): s = get() if s == 0 #stop if nothing pressed# motorA.stop() motorB.stop() elif s == 1 #going forward# motorA.forward() motorA.speed = 100 motorB.forward() motorB.speed = 100 elif s == -1 #going backward# motorA.backward() motorA.speed = 100 motorB.backward() motorB.speed = 100 elif s == 2 #rotate right# motorA.forward() motorA.speed = 100 motorB.backward() motorB.speed = 100 elif s == 3 #rotate left# motorA.backward() motorA.speed = 100 motorB.forward() motorB.speed = 100 else: destroy()
