def moveMotor(self, duticycle):
self.PWMData = duticycle
if duticycle > 5:
self.forwwardMotion = 1
self.backwardMotion = 0
IO.output(self.inputLeftPin, IO.HIGH)
IO.output(self.inputRightPin, IO.LOW)
def __init__(self,LPWMPin, RPWMPin):
self.LPWMPin = LPWMPin #Pins initialization
self.RPWMPin = RPWMPin #Pins initialization
self.PWMData = 0 #PWM data
self.forwwardMotion = 0 #0 means NO, 1 means yes
self.backwardMotion = 0 #0 means NO, 1 means yes
IO.setwarnings(False)
IO.setmode(IO.BCM)
IO.setup(LPWMPin, IO.OUT)
self.LPWMctrl = IO.PWM(LPWMPin,100)
self.LPWMctrl.start(0)
IO.setup(RPWMPin,IO.OUT)
self.RPWMctrl = IO.PWM(RPWMPin, 100)
self.RPWMctrl.start(0)
def __init__(self,inputLeftPin, inputRightPin):
self.inputLeftPin = inputLeftPin #Pins initialization
self.inputRightPin = inputRightPin #Pins initialization
self.forwwardMotion = 0 #0 means NO, 1 means yes
self.backwardMotion = 0 #0 means NO, 1 means yes
IO.setwarnings(False)
IO.setmode(IO.BCM)
# IO.setup(enablePin, IO.OUT) //EnablePin- NO NEED as Shorted to 5V
# self.enablePinCtrl = IO.PWM(enablePin,100)
# self.enablePinCtrl.start(0)
IO.setup(inputLeftPin,IO.OUT)
IO.setup(inputRightPin, IO.OUT)
def __init__(self,inputLeftPin, inputRightPin, enablePin):
self.inputLeftPin = inputLeftPin #Pins initialization
self.inputRightPin = inputRightPin #Pins initialization
self.enablePin = enablePin #Pins initialization
self.PWMData = 0 #PWM data
self.forwwardMotion = 0 #0 means NO, 1 means yes
self.backwardMotion = 0 #0 means NO, 1 means yes
IO.setwarnings(False)
IO.setmode(IO.BCM)
IO.setup(enablePin, IO.OUT)
self.enablePinCtrl = IO.PWM(enablePin,100)
self.enablePinCtrl.start(0)
IO.setup(inputLeftPin,IO.OUT)
IO.setup(inputRightPin, IO.OUT)
IO.setup(inputLeftPin,IO.OUT)
IO.setup(inputRightPin, IO.OUT)
def moveMotor(self, duticycle):
self.PWMData = duticycle
if duticycle > 5:
self.forwwardMotion = 1
self.backwardMotion = 0
IO.output(self.inputLeftPin, IO.HIGH)
IO.output(self.inputRightPin, IO.LOW)
elif duticycle < -5:
self.forwwardMotion = 0
self.backwardMotion = 1
IO.output(self.inputLeftPin, IO.LOW)
IO.output(self.inputRightPin, IO.HIGH)
else:
self.forwwardMotion = 0
self.backwardMotion = 0
IO.output(self.inputLeftPin, IO.LOW)
IO.output(self.inputRightPin, IO.LOW)
self.PWMData = abs(duticycle);
self.enablePinCtrl.ChangeDutyCycle(self.PWMData)
def printMotor(self,motorName):
print(motorName,self.inputLeftPin,self.inputRightPin,self.enablePin,self.PWMData,self.forwwardMotion,self.backwardMotion)
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