#!/usr/bin/python import RoboPiLib as RoboPi import time as time INPUT = RoboPi.INPUT OUTPUT = RoboPi.OUTPUT PWM = RoboPi.PWM SERVO = RoboPi.SERVO MOTORA_IA = 12 MOTORA_IB = 13 MOTORB_IA = 14 MOTORB_IB = 15 RoboPi.RoboPiInit("/dev/ttyAMA0", 115200) while 1: # set both motors to go forward RoboPi.pinMode(MOTORA_IA, PWM) RoboPi.pinMode(MOTORA_IB, OUTPUT) RoboPi.pinMode(MOTORB_IA, PWM) RoboPi.pinMode(MOTORB_IB, OUTPUT) # slowly ramp up the sped for speed in xrange(0, 256, 2): RoboPi.analogWrite(MOTORA_IA, speed) RoboPi.analogWrite(MOTORB_IA, speed)
import RoboPiLib as RPL # (robotonomy setup.py) from setup import RPL # (robotonomy README.md) import time RPL.RoboPiInit("/dev/ttyAMA0", 115200) # (robotonomy setup.py) motorL = 1 # (robo-control control.py) motorR = 0 # (robo-control control.py) sensor_pin = 16 # (robotonomy basic.py) RPL.servoWrite(motorR, 2000) # (robo-control control.py) RPL.servoWrite(motorL, 1000) # (robo-control control.py) RPL.pinMode(sensor_pin, RPL.INPUT) # (robo-control control.py) while RPL.digitalRead(sensor_pin) == 1: # (robotonomy basic.py) RPL.servoWrite(motorR, 2000) # (robo-control control.py) RPL.servoWrite(motorL, 1000) # (robo-control control.py) else: RPL.servoWrite(motorR, 0) # (robo-control control.py) RPL.servoWrite(motorL, 0) # (robo-control control.py)
import sys import time import os try: import RoboPiLib as RPL RPL.RoboPiInit("dev/ttyAMA0", 115200) except: import RoboPiLibSub as RPL print("ROBOPILIB HAS FAILED TO INITIALIZE! Loading substitute...") time.sleep(2) #DEFINITIONS================================================================================ #LOOP BOOLEANS------------------------------------------------------------------------------ #These determine what parts of the program loop run l1 = True l1_1 = False l1_2 = False #------------------------------------------------------------------------------------------- #STRINGS------------------------------------------------------------------------------------ l1s1 = "-----===PIN_DIAGNOSTICS===-----" l1s2 = "v0.0.1" l1s3 = "---" l1s4 = "0 - Exit" l1s5 = "1 - Test ALL pins" l1s6 = "2 - Test a specific pin" l1_1s1 = "---=FULL PIN TEST=---" l1_1s2 = "Testing motors by attempting a full speed move for one second each." l1_1s3 = "Testing sensors by displaying output for five seconds each." l1_2s1 = "---=INDIVIDUAL PIN TESTING=---"
forwardRightSpeedChange(100) elif ch == "@": forwardRightSpeedChange(-100) elif ch == "3": backwardLeftSpeedChange(-100) elif ch == "#": backwardLeftSpeedChange(100) elif ch == "4": backwardRightSpeedChange(-100) elif ch == "$": backwardRightSpeedChange(100) else: stopAll() #Start with this """ import RoboPiLib as RPL RPL.RoboPiInit("/dev/ttyAMA0",115200) #Sensor RPL.digitalRead() # Move forward RPL.servoWrite(0,1000) RPL.servoWrite(1,2000) # Move backward RPL.servoWrite(0,2000) RPL.servoWrite(1,1000) # Pivot around left wheel
import RoboPiLib as RPL import setup import RPL RPL.RoboPiInit("/dev/ttyAMOA0",115200) import sys, tty, termios, signal #gets the motors going motorL = 0 motorR = 2 sensor_pin = 18 nearby = RPL.digitalread(23) robot = 0 while robot is 0: if nearby is 0: RPL.servowrite(motorL, 1000) RPL.servowrite(motorR, 2000) print "start" if nearby is 1: RPL.servowrite(motorL, 0) RPL.servowrite(motorR, 0) print "stop"