def motordrive(motpin1, motpin2, optopin, DC, q):
try:
Motor = rpi_dc_lib.DRV8833NmDc(motpin1, motpin2, 50)
#print("driving motor")
speedlist = []
Motor.forward(100 - DC)
# if fwd==1:
# Motor.forward(100-DC)
# elif
#print("motor two with feedback started\n")
avgspeed = measurespeed(optopin)
now = time.time()
while (time.time() - now) < spintime:
avgspeed = measurespeed(optopin)
speedlist = speedlist + [avgspeed]
#print("M2 speed = " + str(avgspeed))
if fb == True and abs(avgspeed - setspeed) > 1 and DC + k * (
setspeed - avgspeed) < 99:
DC = DC + k * (setspeed - avgspeed)
Motor.forward(100 - DC)
#input("press key to stop")
#print("motor stop\n")
Motor.stop(0)
#time.sleep(spintime)
#print("M2 speed = " + str(avgspeed))
except KeyboardInterrupt:
print("CTRL-C: Terminating program.")
except Exception as error:
print(error)
print("Unexpected error:")
finally:
Motor.cleanup(True)
q.put(speedlist)
def motortwo():
print(" TEST: testing motor ")
# Motorssetup
MotorTwo = rpi_dc_lib.DRV8833NmDc(13 ,21 ,50 ,True, "motor_two")
# ================ Motors two test section 1=============
try:
print("1. motor forward")
MotorTwo.forward(15)
input("press key to stop")
MotorTwo.stop(0)
print("motor stop\n")
time.sleep(3)
print("2. motor forward speed up")
for i in range(15,30):
MotorTwo.forward(i)
time.sleep(1)
MotorTwo.stop(0)
print("motor stop\n")
time.sleep(3)
print("3. motor backward")
MotorTwo.backward(15)
input("press key to stop")
MotorTwo.stop(0)
print("motor stop\n")
time.sleep(3)
print("4. motor backward speed up")
for i in range(15,30):
MotorTwo.backward(i)
time.sleep(1)
MotorTwo.stop(0)
print("motor stop\n")
time.sleep(3)
print("5 brake check")
MotorTwo.forward(50)
time.sleep(3)
MotorTwo.brake(100)
print("motor brake\n")
except KeyboardInterrupt:
print("CTRL-C: Terminating program.")
except Exception as error:
print(error)
print("Unexpected error:")
finally:
MotorTwo.cleanup(True)
def motortwodrive(DC2):
try:
MotorTwo = rpi_dc_lib.DRV8833NmDc(13 ,21 ,50 ,False, "motor_two")
#print("driving motor")
MotorTwo.forward(100-DC2)
avgspeed = measurespeed(optopin2)
#input("press key to stop")
#print("motor stop\n")
#MotorOne.stop(0)
time.sleep(spintime)
#print(avgspeed)
except KeyboardInterrupt:
print("CTRL-C: Terminating program.")
except Exception as error:
print(error)
print("Unexpected error:")
finally:
MotorTwo.cleanup(False)
def stopfunc():
print("stop")
MotorOne = rpi_dc_lib.DRV8833NmDc(26, 19, 50, False, "motor_one")
MotorOne.stop(0)
MotorTwo = rpi_dc_lib.DRV8833NmDc(13, 21, 50, False, "motor_two")
MotorTwo.stop(0)