rmotor = 1 d1 = 16 d2 = 17 while True: d1read = RPL.digitalRead(d1) d2read = RPL.digitalRead(d2) if d1read == 1 and d2read == 1: RPL.servoWrite(lmotor,1400) RPL.servoWrite(rmotor,1600) elif d1read == 0 and d2read == 0: RPL.servoWrite(lmotor,0) RPL.servoWrite(rmotor,0) print('so long comerade') exit() elif d1read == 0 or d2read == 0: RPL.servoWrite(lmotor,1500) RPL.servoWrite(rmotor,1500) PTW.state['d1'] = d1read PTW.state['d2'] = d2read PTW.state['m1'] = RPL.servoRead(lmotor) PTW.state['m2'] = RPL.servoRead(rmotor) PTW.post()
def stepclose(): RPL.servoWrite(0, I + 10) RPL.servoWrite(1, J - 10) print "step close" print RPL.servoRead(0) print RPL.servoRead(1)
def show(): print RPL.servoRead(0) print RPL.servoRead(1)
def open(): RPL.servoWrite(0, 500) RPL.servoWrite(1, 2500) print "open" print RPL.servoRead(0) print RPL.servoRead(1)
def close(): RPL.servoWrite(0, 1000) RPL.servoWrite(1, 2000) print "close" print RPL.servoRead(0) print RPL.servoRead(1)
def R_RN(): RPL.servoRead(R_Pin) print R_RN
RPL.servoWrite(0, 500) RPL.servoWrite(1, 2500) print "open" print RPL.servoRead(0) print RPL.servoRead(1) def close(): RPL.servoWrite(0, 1000) RPL.servoWrite(1, 2000) print "close" print RPL.servoRead(0) print RPL.servoRead(1) i = RPL.servoRead(0) j = RPL.servoRead(1) def stepclose(): RPL.servoWrite(0, I + 10) RPL.servoWrite(1, J - 10) print "step close" print RPL.servoRead(0) print RPL.servoRead(1) def show(): print RPL.servoRead(0) print RPL.servoRead(1)
def printpos(): print RPL.servoRead(0) print RPL.servoRead(1)
def L_RN(): RPL.servoRead(L_Pin) print L_RN
def servo1down(dir): if (dir == 'go'): a = RPL.servoRead(servo1) RPL.servoWrite(servo1, max(600, a - 50))
import post_to_web as PTW sensor_pin = 16 RPL.pinMode(sensor_pin, RPL.INPUT) running = True braking = False m1Speed = 1400 m2Speed = 1600 while running: reading = RPL.digitalRead(sensor_pin) if reading == 0: braking = True if braking == True and m1Speed != 1500 and m2Speed != 1500: print("If statement fired") m1Speed += 10 m2Speed -= 10 if m1Speed == 1500 and m2Speed == 1500: m1Speed = 00 m2Speed = 00 running = False RPL.servoWrite(0, m1Speed) RPL.servoWrite(1, m2Speed) PTW.state['d1'] = RPL.digitalRead(sensor_pin) PTW.state['d2'] = RPL.servoRead(0) PTW.state['d3'] = RPL.servoRead(1) PTW.post()
def servo1up(dir): # Wrist pitch if (dir == 'go'): a = RPL.servoRead(servo1) RPL.servoWrite(servo1, min(a + 50, 2400))
def show(): print("left Motor is at", RPL.servoRead(0)) print("Right Motor is at", RPL.servoRead(1))
def bigstepclose(): RPL.servoWrite(0, RPL.servoRead(0) + 20) RPL.servoWrite(1, RPL.servoRead(1) - 20) print "big step open"
def stepclose(): RPL.servoWrite(0, RPL.servoRead(0) + 5) RPL.servoWrite(1, RPL.servoRead(1) - 5) print "step open"
import setup import RoboPiLib as RPL import time x = 0 start = 3000 left = 600 # read whether the motor is at 3000 or 600 # make the motor turn to the other, based on motor = RPL.servoRead(0) if motor == start: RPL.servoWrite(0, left) elif motor == left: RPL.servoWrite(0, start) else: print "WRONG"