# Complete project details at https://RandomNerdTutorials.com from dcmotor import DCMotor from machine import Pin, PWM from time import sleep frequency = 15000 pin1 = Pin(12, Pin.OUT) pin2 = Pin(14, Pin.OUT) enable = PWM(Pin(13), frequency) dc_motor = DCMotor(pin1, pin2, enable, 350, 1023) dc_motor.forward(50) sleep(2) dc_motor.stop() sleep(3) dc_motor.backwards(100) sleep(2) dc_motor.forward(5) sleep(5) dc_motor.stop()
class Roomba:
def __init__(self, MotorE, MotorA, MotorB, servo_pin, trigger, echo,green,yellow,red,distance_timer):
GPIO.setwarnings(False)
self.distance_timer = distance_timer
self.dcmotor = DCMotor(MotorE, MotorA, MotorB)
self.servomotor = ServoMotor(servo_pin)
self.distancesensor = DistanceSensor(trigger,echo)
self.green = green
self.yellow = yellow
self.red = red
GPIO.setup(self.green,GPIO.OUT)
GPIO.setup(self.yellow,GPIO.OUT)
GPIO.setup(self.red,GPIO.OUT)
def red_ON(self):
GPIO.output(self.red,GPIO.HIGH)
def red_OFF(self):
GPIO.output(self.red,GPIO.LOW)
def yellow_ON(self):
GPIO.output(self.yellow,GPIO.HIGH)
def yellow_OFF(self):
GPIO.output(self.yellow,GPIO.LOW)
def green_ON(self):
GPIO.output(self.green,GPIO.HIGH)
def green_OFF(self):
GPIO.output(self.green,GPIO.LOW)
def cleanup(self):
GPIO.setup(self.green,GPIO.LOW)
GPIO.setup(self.yellow,GPIO.LOW)
GPIO.setup(self.red,GPIO.LOW)
self.servomotor.cleanup()
self.dcmotor.cleanup()
self.distancesensor.cleanup()
GPIO.cleanup()
def reverse_turn(self,direction = 1):
self.dcmotor.stop()
self.servomotor.turn(direction*50)
time.sleep(0.5)
while True:
print("reverse")
self.dcmotor.change_speed(100)
self.dcmotor.backward()
time.sleep(0.8)
self.dcmotor.stop()
dist = self.distancesensor.get_distance()
if dist > 60:
break
self.servomotor.turn(0)
time.sleep(0.5)
self.dcmotor.change_speed(90)
self.dcmotor.forward()
def random_turn(self):
LAG = 0.4
if (random.random() < 0.5):
direction = +1
else:
direction = -1
print("turning")
self.dcmotor.change_speed(90)
while True:
dist = self.distancesensor.get_distance()
if dist > 100:
time.sleep(LAG)
print("turn complete")
self.servomotor.turn(0)
self.dcmotor.change_speed(80)
print(self.servomotor.angle)
break
elif 80 < dist <= 100:
self.servomotor.turn(direction*10)
elif 60 < dist <= 80:
self.servomotor.turn(direction*30)
elif 40 < dist <= 60:
self.servomotor.turn(direction*50)
elif dist <= 20:
print("stopped while turning")
self.dcmotor.stop()
self.reverse_turn(direction)
break
time.sleep(self.distance_timer)
dcMotorB.forward(forwardSpeed)
elif car_backward == cmdIdx:
print('cmd: car_backward')
ledLight.on()
dcMotorA.backward(backwardSpeed)
dcMotorB.backward(backwardSpeed)
elif car_left == cmdIdx:
print('cmd: car_left')
ledLight.on()
dcMotorA.backward(backwardSpeed)
dcMotorB.forward(backwardSpeed)
elif car_right == cmdIdx:
print('cmd: car_right ')
ledLight.on()
dcMotorA.forward(backwardSpeed)
dcMotorB.backward(backwardSpeed)
elif car_stop == cmdIdx:
print('cmd: car_stop')
ledLight.off()
dcMotorA.stop()
dcMotorB.stop()
resHtml = web_page()
conn.send('HTTP/1.1 200 OK\n')
conn.send('Content-Type: text/html\n')
conn.send('Connection: closed.\n\n')
conn.sendall(resHtml)
conn.close()
except OSError as e:
conn.close()
print('Connection closed.')
from dcmotor import DCMotor from time import sleep motor = DCMotor(20, 21, pwmPin=16) motor.forward(0.2) sleep(1) motor.backward(0.2) sleep(1) motor.stop()
def main():
gc.collect()
ledLight = Signal(Pin(2, Pin.OUT), invert=False) # GPIO2 ( D2 )
sleep(0.1)
ledLight.on()
dcMotorA = DCMotor(4, 5) # GPIO4 ( D4 ), GPIO5 ( D5 )
sleep(0.1)
dcMotorA.stop()
servoB = CServo(15) # GPIO15 ( D15 )
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.bind(('', 80))
sock.listen(5)
while True:
try:
if gc.mem_free() < G_GC_THRESHOLD:
gc.collect()
conn, addr = sock.accept()
conn.settimeout(3.0)
print('Received HTTP GET connection request from %s' % str(addr))
request = conn.recv(1024)
conn.settimeout(None)
request = str(request)
print('GET Rquest Content = %s' % request)
car_direction = request.find('/?car_direction')
turn_left = request.find('/?turn_left')
car_forward = request.find('/?car_forward')
turn_right = request.find('/?turn_right')
speed_up = request.find('/?speed_up')
car_stop = request.find('/?car_stop')
slow_down = request.find('/?slow_down')
car_backward = request.find('/?car_backward')
if car_direction == G_CMD_IDX:
endIdx = request.find(' HTTP/')
subReq = request[G_CMD_IDX:endIdx]
startIdx = subReq.find('=') + 1
virtualAngle = int(subReq[startIdx:])
print('cmd: car_direction, virtualAngle =', virtualAngle)
ledLight.on()
servoB.carDirection(virtualAngle)
elif turn_left == G_CMD_IDX:
print('cmd: turn_left')
ledLight.on()
servoB.turnLeft()
elif car_forward == G_CMD_IDX:
print('cmd: car_forward')
ledLight.on()
dcMotorA.forward(G_FORWARD_SPEED)
elif turn_right == G_CMD_IDX:
print('cmd: turn_right')
ledLight.on()
servoB.turnRight()
elif speed_up == G_CMD_IDX:
print('cmd: speed_up')
ledLight.on()
dcMotorA.speedUp()
elif car_stop == G_CMD_IDX:
print('cmd: car_stop')
ledLight.off()
dcMotorA.stop()
elif slow_down == G_CMD_IDX:
print('cmd: slow_down')
ledLight.on()
dcMotorA.slowDown()
elif car_backward == G_CMD_IDX:
print('cmd: car_backward')
ledLight.on()
dcMotorA.backward(G_BACKWARD_SPEED)
resHtml = getWebPage()
conn.send('HTTP/1.1 200 OK\n')
conn.send('Content-Type: text/html\n')
conn.send('Connection: closed.\n\n')
conn.sendall(resHtml)
conn.close()
except OSError as e:
conn.close()
print('Connection closed. OSError =', e)
