def main():
""" メイン関数 """
# 接続ピン
PIN_AIN1 = 6
PIN_AIN2 = 5
PIN_BIN1 = 26
PIN_BIN2 = 27
# 左右モーター設定(PWM)
motors = Robot(left=(PIN_AIN1, PIN_AIN2),
right=(PIN_BIN1, PIN_BIN2),
pwm=True)
# 1秒毎の正負パルス値の信号源
dirleft = post_delayed(scaled(alternating_values(True), -1, 1), 1)
dirright = post_delayed(scaled(alternating_values(False), -1, 1), 1)
# 左右モーターに信号源を接続
motors.source = zip(dirleft, dirright)
# 停止(Ctrl+c)まで待機
pause()
from signal import pause import atexit import gpiozero from gpiozero.tools import scaled, negated robot = gpiozero.Robot(left=(27, 17), right=(24, 23)) left_line_sensor = gpiozero.LineSensor(5) right_line_sensor = gpiozero.LineSensor(6) # Ensure it will stop atexit.register(robot.stop) robot.left_motor.source = scaled(negated(left_line_sensor), -0.3, 0.4) robot.right_motor.source = scaled(negated(right_line_sensor), -0.3, 0.4) pause()
def flicker():
for led in tree:
led.source_delay = 0.1
led.source = scaled(random_values(),0,times)
from signal import pause import atexit import gpiozero from gpiozero.tools import scaled, negated robot = gpiozero.Robot(left=(27, 17), right=(24, 23)) left_obstacle_sensor = gpiozero.DigitalInputDevice(13) right_obstacle_sensor = gpiozero.DigitalInputDevice(26) # Ensure it will stop atexit.register(robot.stop) robot.right_motor.source = scaled(left_obstacle_sensor, -1, 1) robot.left_motor.source = scaled(right_obstacle_sensor, -1, 1) pause()
from gpiozero import Robot, MCP3008 from gpiozero.tools import scaled from signal import pause robot = Robot(left=(4, 14), right=(17, 18)) left_pot = MCP3008(0) right_pot = MCP3008(1) robot.source = zip(scaled(left_pot, -1, 1), scaled(right_pot, -1, 1)) pause()
from gpiozero import Robot, MCP3008 from gpiozero.tools import scaled from signal import pause robot = Robot(left=(4, 14), right=(17, 18)) left = MCP3008(0) right = MCP3008(1) robot.source = zip(scaled(left.values, -1, 1), scaled(right.values, -1, 1)) pause()
