def __init__(self,
motor_left_pin1=17,
motor_left_pin2=27,
motor_right_pin1=23,
motor_right_pin2=24,
line_follow_pin_left=19,
line_follow_pin_right=6,
servo_pin=22,
us_trigger_pin=12,
us_echo_pin=13):
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
# init modules
self.ultrasonic = US(servo_pin, us_trigger_pin, us_echo_pin)
self.motor = L293D(motor_left_pin1, motor_left_pin2, motor_right_pin1,
motor_right_pin2)
self.line_follow_pin_left = line_follow_pin_left
self.line_follow_pin_right = line_follow_pin_right
GPIO.setup(self.line_follow_pin_left, GPIO.IN)
GPIO.setup(self.line_follow_pin_right, GPIO.IN)
import RPi.GPIO as GPIO
import time
from l293d import L293D
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
print("robot will run...\n")
l = L293D(17, 27, 23, 24)
l.stop()
for i in range(20):
l.forward()
time.sleep(0.5)
l.forwardRight()
time.sleep(0.5)
l.stop()
import RPi.GPIO as GPIO
from l293d import L293D
from time import sleep
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
print("Keskeytä Ctrl+C")
#Microbit kytketaan raspberryn GPIO4:seen eli fysikaalinen pinni 7
ohjain_eteenpain = Button(4, pull_up=False)
#Microbit kytketaan raspberryn GPIO5:seen eli fysikaalinen pinni 8
ohjain_oikealle = Button(5, pull_up=False)
#Microbit kytketaan raspberryn GPIO6:seen eli fysikaalinen pinni 9
ohjain_vasemmalle = Button(6, pull_up=False)
motor = L293D(17, 27, 23, 24)
motor.stop()
try:
while True:
if ohjain_eteenpain.is_pressed:
motor.forward()
if ohjain_oikealle.is_pressed:
motor.forwardRight()
if ohjain_vasemmalle.is_pressed:
motor.forwardLeft()
sleep(0.5)
except KeyboardInterrupt:
print("Lopetetaan ohjelma")
finally:
motor.stop()
import RPi.GPIO as io
from l293d import L293D
pwm_fw = 50
brakeInterval = -5
motor = L293D()
io.output(motor.EN12, 0)
io.output(motor.EN34, 0)
pwm12 = io.PWM(motor.EN12, 1000) # frequency =1000
pwm34 = io.PWM(motor.EN34, 1000) # frequency =1000
pwm12.start(100)
pwm34.start(100)
motor.move_fw()
from time import sleep
sleep(1)
def brake():
print("BRAKE!!!...")
for dc in range(pwm_fw, 0, brakeInterval):
pwm34.ChangeDutyCycle(dc)
pwm12.ChangeDutyCycle(dc)
sleep(.25)
import RPi.GPIO as GPIO import time from l293d import L293D GPIO.setmode(GPIO.BCM) GPIO.setwarnings(False) l = L293D(23,24,17,27) l.stop() for i in range(1): l.forward() time.sleep(0.5) l.forwardRight() time.sleep(0.5) l.stop()