def handleIote2eResult(self, iote2eResult ):
actuatorValue = iote2eResult.pairs['actuatorValue'];
logger.info('actuatorValue {}'.format(actuatorValue))
if 'off' == actuatorValue:
MOTOR.dcSTOP(0,3)
elif 'on' == actuatorValue:
MOTOR.dcSTART(0,3)
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 stop(self):
for m in self._LEFT + self._RIGHT:
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
m.speed = 0
m._direction = m._forward
MOTOR.dcCONFIG(m._address, m._number, m.direction, m.speed,
m._acceleration)
m._stopped = True
print("motor: {0}, {1} speed: {2} direction: {3}".format(
m._address, m._number, m.speed, m.direction))
def MotorOff():
#print("Stopping Motor")
MOTOR.dcSTOP(ctl,FL)
MOTOR.dcSTOP(ctl,FR)
MOTOR.dcSTOP(ctl,RL)
MOTOR.dcSTOP(ctl,RR)
status = "stopped"
return status
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 stop(self, msg):
MOTOR.dcSTOP(config.ADDR, msg['motor'])
def Stop(self):
MOTOR.dcSTOP(0,self.Motor_Number)
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 motorStop(self, plate, motor):
MOTOR.dcSTOP(plate, motor)
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 right_stop(self):
MOTOR.dcSTOP(0, self.RIGHT_TRACK)
def left_stop(self):
MOTOR.dcSTOP(0, self.LEFT_TRACK)
def move_track(self, motor_number, direction, speed):
MOTOR.dcSTOP(0, motor_number)
MOTOR.dcCONFIG(0, motor_number, direction, speed, 0)
MOTOR.dcSTART(0, motor_number)
def stop(self):
for m in self._LEFT + self._RIGHT:
MOTOR.dcSTOP(m._address, m._number)
m.speed = 0
m._direction = m._forward
m._stopped = True
def right_stop(self):
print(inspect.stack()[0][3])
MOTOR.dcSTOP(0, self.RIGHT_TRACK)
def left_stop(self):
print(inspect.stack()[0][3])
MOTOR.dcSTOP(0, self.LEFT_TRACK)