def initializeMotors(self): # Motors self.leftMotor = Motors.Motor(self.leftMotorPin1, self.leftMotorPin2, self.leftMotorEnablePin, 200, "forward", 0, 1) self.leftMotor.startMotor() self.leftMotor.setDirection() self.leftMotor.setSpeed() self.rightMotor = Motors.Motor(self.rightMotorPin1, self.rightMotorPin2, self.rightMotorEnablePin, 200, "forward", 0, 1) self.rightMotor.startMotor() self.rightMotor.setDirection() self.rightMotor.setSpeed()
def __init__(self): rospy.init_node('IO_Interface', anonymous=False) # pub = rospy.Publisher('IO_Interface/', String, queue_size=10) #create motors self.motor_1 = Motors.Motor(motorID='t1', pin = 1, pwm_output = 0) self.motor_2 = Motors.Motor(motorID='t2', pin = 2, pwm_output = 0) self.motor_3 = Motors.Motor(motorID='t3', pin = 3, pwm_output = 0) self.motor_4 = Motors.Motor(motorID='t4', pin = 4, pwm_output = 0) #create inu sensors self.mpu = IMU.Inertia_Measurement_Unit('mpu') self.lsm = IMU.Inertia_Measurement_Unit('lsm') #create led output self.led = Led.Navio2_LED()
return "415 Unsupported Media Type" if __name__ == "__main__": GPIO.setmode(GPIO.BOARD) try: # Set up logging multiprocessing.log_to_stderr() logger = multiprocessing.get_logger() logger.setLevel(logging.INFO) # Motors leftMotor = Motors.Motor(33, 35, 37, 200, "forward", 0, 1) leftMotor.startMotor() leftMotor.setDirection() leftMotor.setSpeed() rightMotor = Motors.Motor(31, 29, 32, 200, "forward", 0, 1) rightMotor.startMotor() rightMotor.setDirection() rightMotor.setSpeed() app.run(host="0.0.0.0", debug=1) while True: pass except KeyboardInterrupt: print("parent received control-c") except: