def main(): # import time # # print "********************************************" # print "* *" # print "* SunFounder TB6612 *" # print "* *" # print "* Connect MA to BCM17 -> 20 *" # print "* Connect MB to BCM18 -> 16 *" # print "* Connect PWMA to BCM27 -> 12 *" # print "* Connect PWMB to BCM22 -> 26 *" # print "* *" # print "********************************************" GPIO.setmode(GPIO.BCM) GPIO.setup((12, 26), GPIO.OUT) a = GPIO.PWM(12, 60) b = GPIO.PWM(26, 60) a.start(0) b.start(0) def a_speed(value): a.ChangeDutyCycle(value) def b_speed(value): b.ChangeDutyCycle(value) motorA = TB6612.Motor(20) motorB = TB6612.Motor(16) # motorA.debug = True # motorB.debug = True motorA.pwm = a_speed motorB.pwm = b_speed inkey = _Getch() while (1): k = inkey() if k != '': break if k == '\x1b[A': print("forward") motorA.forward() motorA.speed = 100 motorB.forward() motorB.speed = 100 elif k == '\x1b[B': print("backward") motorA.backward() motorA.speed = 100 motorB.backward() motorB.speed = 100 elif k == '\x1b[C': print("right") motorA.backward() motorA.speed = 100 motorB.forward() motorB.speed = 100 elif k == '\x1b[D': print("left") motorA.forward() motorA.speed = 100 motorB.backward() motorB.speed = 100 # elif k==',': # print("<") # elif k=='.': # print(">") else: print("not an arrow key!")
def main(): import time GPIO.setwarnings(False) GPIO.setmode(GPIO.BCM) GPIO.setup((12, 26), GPIO.OUT) a = GPIO.PWM(12, 60) b = GPIO.PWM(26, 60) a.start(0) b.start(0) def a_speed(value): a.ChangeDutyCycle(value) def b_speed(value): b.ChangeDutyCycle(value) motorA = TB6612.Motor(20) motorB = TB6612.Motor(16) # motorA.debug = True # motorB.debug = True motorA.pwm = a_speed motorB.pwm = b_speed delay = 0.05 while(1): s = get() if s == 0 #stop if nothing pressed# motorA.stop() motorB.stop() elif s == 1 #going forward# motorA.forward() motorA.speed = 100 motorB.forward() motorB.speed = 100 elif s == -1 #going backward# motorA.backward() motorA.speed = 100 motorB.backward() motorB.speed = 100 elif s == 2 #rotate right# motorA.forward() motorA.speed = 100 motorB.backward() motorB.speed = 100 elif s == 3 #rotate left# motorA.backward() motorA.speed = 100 motorB.forward() motorB.speed = 100 else: destroy()