def __init__(self, min_speed=25):
# make the motor banks
self._LEFT = [
Motor(0, 1, 'cw', 'ccw'),
Motor(0, 2, 'cw', 'ccw'),
Motor(0, 3, 'cw', 'ccw')
]
self._RIGHT = [
Motor(1, 1, 'ccw', 'cw'),
Motor(1, 2, 'ccw', 'cw'),
Motor(1, 3, 'ccw', 'cw')
]
# get the motors ready to run
for m in self._LEFT:
MOTOR.dcCONFIG(m._address, m._number, m.direction, 0,
m._acceleration)
print("Starting motors at speed 0.")
MOTOR.dcSTART(m._address, m._number)
m._stopped = False
for m in self._RIGHT:
MOTOR.dcCONFIG(m._address, m._number, m.direction, 0,
m._acceleration)
print("Starting motors at speed 0.")
MOTOR.dcSTART(m._address, m._number)
m._stopped = False
def stop(self):
for m in self._LEFT + self._RIGHT:
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
m.speed = 0
m._direction = m._forward
MOTOR.dcCONFIG(m._address, m._number, m.direction, m.speed,
m._acceleration)
m._stopped = True
print("motor: {0}, {1} speed: {2} direction: {3}".format(
m._address, m._number, m.speed, m.direction))
def initMotor(FLdir,FRdir,RLdir,RRdir):
#print("Setting: ",rotation)
MOTOR.dcCONFIG(ctl,FL,FLdir,0.0,0.0)
MOTOR.dcCONFIG(ctl,FR,FRdir,0.0,0.0)
MOTOR.dcCONFIG(ctl,RL,RLdir,0.0,0.0)
MOTOR.dcCONFIG(ctl,RR,RRdir,0.0,0.0)
MOTOR.dcSTART(ctl,FL)
MOTOR.dcSTART(ctl,FR)
MOTOR.dcSTART(ctl,RL)
MOTOR.dcSTART(ctl,RR)
if (FLdir == FRdir == RLdir == RRdir == "cw") :
status = "forward"
return
elif (FLdir == FRdir == RLdir == RRdir == "ccw"):
status = "reverse"
return
elif (FLdir == RLdir == "cw" and FRdir == RRdir == "ccw"):
status = "left"
elif (FLdir == RLdir == "ccw" and FRdir == RRdir == "cw"):
status = "right"
else:
status = 'something not right'
return status
def reverse(self, increment):
# decrease forward speed of both banks
for m in self._LEFT + self._RIGHT:
if m._stopped:
MOTOR.dcSTART(m._address, m._number)
tmp = m.speed - increment
if tmp >= 0 and m.direction == m._forward:
new_speed = min([100, tmp])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = new_speed
if tmp >= 0 and m.direction == m._reverse:
m.direction = m._forward
new_speed = min([100, tmp])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = new_speed
if tmp < 0 and m.direction == m._forward:
m.direction = m._reverse
new_speed = min([100, abs(tmp)])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = -new_speed
if tmp < 0 and m.direction == m._reverse:
new_speed = min([100, abs(tmp)])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = -new_speed
print(m.speed)
def __init__(self, loginVo, sensorName):
self.loginVo = loginVo
self.sensorName = sensorName
MOTOR.dcCONFIG(0,3,'cw',100, 1)
def start(self, msg):
MOTOR.dcCONFIG(config.ADDR, msg['motor'], msg['dir'], msg['speed'],
msg['acc'])
MOTOR.dcSTART(config.ADDR, msg['motor'])
def SetAcceleration(self,Acceleration):
self.Acceleration = Acceleration
MOTOR.dcCONFIG(0,self.Motor_Number,self.Direction,self.DutyCycle,self.Acceleration)
def __init__(self,MotorNumber):
self.Motor_Number = MotorNumber
MOTOR.dcCONFIG(0,self.Motor_Number,self.Direction,self.DutyCycle,self.Acceleration) # dcCONFIG(addr,motor,dir,speed,acceleration)
MOTOR.dcSTART(0,self.Motor_Number) # dcSTART(addr,motor)
def right(self, increment):
# decrease speed of right bank
for m in self._RIGHT:
if m._stopped:
MOTOR.dcCONFIG(m._address, m._number, m.direction, 0,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
tmp = m.speed - increment
if tmp >= 0 and m.direction == m._forward:
new_speed = min([tmp, 100])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = new_speed
elif tmp < 0 and m.direction == m._forward:
m.direction = m._reverse
new_speed = min([abs(tmp), 100])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = -new_speed
elif tmp < 0 and m.direction == m._reverse:
new_speed = min([abs(tmp), 100])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = -new_speed
elif tmp >= 0 and m.direction == m._reverse:
m.direction = m._forward
new_speed = min([tmp, 100])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = -new_speed
print("motor: {0}, {1} speed: {2} direction: {3}".format(
m._address, m._number, m.speed, m.direction))
# increase speed of left bank
for m in self._LEFT:
if m._stopped:
MOTOR.dcCONFIG(m._address, m._number, m.direction, 0,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
tmp = m.speed + increment
if tmp >= 0 and m.direction == m._forward:
new_speed = min([tmp, 100])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = new_speed
elif tmp >= 0 and m.direction == m._reverse:
m.direction = m._forward
new_speed = min([tmp, 100])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = new_speed
elif tmp < 0 and m.direction == m._reverse:
new_speed = min([abs(tmp), 100])
MOTOR.dcSPEED(m._address, m._number, new_speed)
time.sleep(m._acceleration)
m.speed = -new_speed
elif tmp < 0 and m.direction == m._forward:
m.direction = m._reverse
new_speed = min([abs(tmp), 100])
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
MOTOR.dcCONFIG(m._address, m._number, m.direction, new_speed,
m._acceleration)
MOTOR.dcSTART(m._address, m._number)
time.sleep(m._acceleration)
m.speed = -new_speed
print("motor: {0}, {1} speed: {2} direction: {3}".format(
m._address, m._number, m.speed, m.direction))
from flask import Flask, render_template
import piplates.RELAYplate as RELAY
import piplates.MOTORplate as MOTOR
import socket
RELAY.getID(0)
MOTOR.dcCONFIG(2, 1, 'ccw', 0, 2.5)
app = Flask(__name__)
@app.route("/")
def hello():
return render_template('home.html')
@app.route("/relay_on/<int:relay_number>")
def relay_on(relay_number):
RELAY.relayON(0, relay_number)
return render_template('home.html')
@app.route("/motor/<int:motor_number>/<int:value>")
def motor(motor_number, value):
print str(value)
MOTOR.dcSPEED(2, motor_number, value)
if (value > 20):
MOTOR.dcSTART(2, motor_number)
else:
MOTOR.dcSTOP(2, motor_number)
return render_template('home.html')
def emergencyStopAll(self):
#this one still needs work
for x in range(1, 4):
MOTOR.dcCONFIG(self.plate, x, 'cw', 0, 0)
self.motorStop(self.plate, x)
self.running = False
def motorStart(self, plate, motor, dir, speed, accel):
MOTOR.dcCONFIG(self.plate, motor, dir, speed, accel)
MOTOR.dcSTART(self.plate, motor)
def move_track(self, motor_number, direction, speed):
MOTOR.dcSTOP(0, motor_number)
MOTOR.dcCONFIG(0, motor_number, direction, speed, 0)
MOTOR.dcSTART(0, motor_number)
