def motor(motor_number, value):
print str(value)
MOTOR.dcSPEED(2, motor_number, value)
if (value > 20):
MOTOR.dcSTART(2, motor_number)
else:
MOTOR.dcSTOP(2, motor_number)
return render_template('home.html')
def reverse(self, increment):
# decrease forward speed of both banks
for m in self._LEFT + self._RIGHT:
if m._stopped:
MOTOR.dcCONFIG(m._address, m._number, m.direction, 0,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
tmp = m.speed - increment
if tmp >= 0 and m.direction == m._forward:
new_speed = min([100, tmp])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = new_speed
if tmp >= 0 and m.direction == m._reverse:
m.direction = m._forward
new_speed = min([100, tmp])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = new_speed
if tmp < 0 and m.direction == m._forward:
m.direction = m._reverse
new_speed = min([100, abs(tmp)])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = -new_speed
if tmp < 0 and m.direction == m._reverse:
new_speed = min([100, abs(tmp)])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = -new_speed
print("motor: {0}, {1} speed: {2} direction: {3}".format(
m._address, m._number, m.speed, m.direction))
def speed(self, msg):
MOTOR.dcSPEED(config.ADDR, msg['motor'], msg['speed'])
def SetSpeed(self,Speed):
self.DutyCycle = Speed
MOTOR.dcSPEED(0,self.Motor_Number,self.DutyCycle)
def right(self, increment):
# decrease speed of right bank
for m in self._RIGHT:
if m._stopped:
MOTOR.dcCONFIG(m._address, m._number, m.direction, 0,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
tmp = m.speed - increment
if tmp >= 0 and m.direction == m._forward:
new_speed = min([tmp, 100])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = new_speed
elif tmp < 0 and m.direction == m._forward:
m.direction = m._reverse
new_speed = min([abs(tmp), 100])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = -new_speed
elif tmp < 0 and m.direction == m._reverse:
new_speed = min([abs(tmp), 100])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = -new_speed
elif tmp >= 0 and m.direction == m._reverse:
m.direction = m._forward
new_speed = min([tmp, 100])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = -new_speed
print("motor: {0}, {1} speed: {2} direction: {3}".format(
m._address, m._number, m.speed, m.direction))
# increase speed of left bank
for m in self._LEFT:
if m._stopped:
MOTOR.dcCONFIG(m._address, m._number, m.direction, 0,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
tmp = m.speed + increment
if tmp >= 0 and m.direction == m._forward:
new_speed = min([tmp, 100])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = new_speed
elif tmp >= 0 and m.direction == m._reverse:
m.direction = m._forward
new_speed = min([tmp, 100])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = new_speed
elif tmp < 0 and m.direction == m._reverse:
new_speed = min([abs(tmp), 100])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = -new_speed
elif tmp < 0 and m.direction == m._forward:
m.direction = m._reverse
new_speed = min([abs(tmp), 100])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = -new_speed
print("motor: {0}, {1} speed: {2} direction: {3}".format(
m._address, m._number, m.speed, m.direction))
def motorChange(self, plate, motor, speed):
MOTOR.dcSPEED(plate, motor, speed)
import RPi.GPIO as GPIO import time import piplates.RELAYplate as RELAY import piplates.MOTORplate as MOTOR MOTOR.dcCONFIG(2, 1, 'ccw', 0.0, 2.5) MOTOR.dcSTART(2, 1) time.sleep(5) MOTOR.dcSPEED(2, 1, 80.0) MOTOR.dcSTART(2, 1) RELAY.getID(0) print "on" RELAY.relayON(0, 3) time.sleep(3) print "off" RELAY.relayOFF(0, 3) MOTOR.dcSTOP(2, 1)
def motorSpeed(FLspeed,FRspeed,RLspeed,RRspeed): MOTOR.dcSPEED(ctl,FL,FLspeed) MOTOR.dcSPEED(ctl,FR,FRspeed) MOTOR.dcSPEED(ctl,RL,RLspeed) MOTOR.dcSPEED(ctl,RR,RRspeed)