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move.py
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move.py
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#!/usr/bin/env python3
# File name : move.py
# Description : Control Motor
# Product : RaspTank
# Website : www.adeept.com
# E-mail : [email protected]
# Author : William
# Date : 2019/02/23
import time
import RPi.GPIO as GPIO
# motor_EN_A: Pin7 | motor_EN_B: Pin11
# motor_A: Pin8,Pin10 | motor_B: Pin13,Pin12
Motor_A_EN = 4
Motor_B_EN = 17
Motor_A_Pin1 = 26
Motor_A_Pin2 = 21
Motor_B_Pin1 = 27
Motor_B_Pin2 = 18
Dir_forward = 1
Dir_backward = 0
left_forward = 1
left_backward = 0
right_forward = 0
right_backward= 1
pwn_A = 0
pwm_B = 0
def motorStop():#Motor stops
GPIO.output(Motor_A_Pin1, GPIO.LOW)
GPIO.output(Motor_A_Pin2, GPIO.LOW)
GPIO.output(Motor_B_Pin1, GPIO.LOW)
GPIO.output(Motor_B_Pin2, GPIO.LOW)
GPIO.output(Motor_A_EN, GPIO.LOW)
GPIO.output(Motor_B_EN, GPIO.LOW)
def setup():#Motor initialization
global pwm_A, pwm_B
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(Motor_A_EN, GPIO.OUT)
GPIO.setup(Motor_B_EN, GPIO.OUT)
GPIO.setup(Motor_A_Pin1, GPIO.OUT)
GPIO.setup(Motor_A_Pin2, GPIO.OUT)
GPIO.setup(Motor_B_Pin1, GPIO.OUT)
GPIO.setup(Motor_B_Pin2, GPIO.OUT)
motorStop()
try:
pwm_A = GPIO.PWM(Motor_A_EN, 1000)
pwm_B = GPIO.PWM(Motor_B_EN, 1000)
except:
pass
def motor_left(status, direction, speed):#Motor 2 positive and negative rotation
if status == 0: # stop
GPIO.output(Motor_B_Pin1, GPIO.LOW)
GPIO.output(Motor_B_Pin2, GPIO.LOW)
GPIO.output(Motor_B_EN, GPIO.LOW)
else:
if direction == Dir_backward:
GPIO.output(Motor_B_Pin1, GPIO.HIGH)
GPIO.output(Motor_B_Pin2, GPIO.LOW)
pwm_B.start(100)
pwm_B.ChangeDutyCycle(speed)
elif direction == Dir_forward:
GPIO.output(Motor_B_Pin1, GPIO.LOW)
GPIO.output(Motor_B_Pin2, GPIO.HIGH)
pwm_B.start(0)
pwm_B.ChangeDutyCycle(speed)
def motor_right(status, direction, speed):#Motor 1 positive and negative rotation
if status == 0: # stop
GPIO.output(Motor_A_Pin1, GPIO.LOW)
GPIO.output(Motor_A_Pin2, GPIO.LOW)
GPIO.output(Motor_A_EN, GPIO.LOW)
else:
if direction == Dir_forward:#
GPIO.output(Motor_A_Pin1, GPIO.HIGH)
GPIO.output(Motor_A_Pin2, GPIO.LOW)
pwm_A.start(100)
pwm_A.ChangeDutyCycle(speed)
elif direction == Dir_backward:
GPIO.output(Motor_A_Pin1, GPIO.LOW)
GPIO.output(Motor_A_Pin2, GPIO.HIGH)
pwm_A.start(0)
pwm_A.ChangeDutyCycle(speed)
return direction
def move(speed, direction, turn, radius=0.6): # 0 < radius <= 1
#speed = 100
if direction == 'forward':
if turn == 'right':
motor_left(0, left_backward, int(speed*radius))
motor_right(1, right_forward, speed)
elif turn == 'left':
motor_left(1, left_forward, speed)
motor_right(0, right_backward, int(speed*radius))
else:
motor_left(1, left_forward, speed)
motor_right(1, right_forward, speed)
elif direction == 'backward':
if turn == 'right':
motor_left(0, left_forward, int(speed*radius))
motor_right(1, right_backward, speed)
elif turn == 'left':
motor_left(1, left_backward, speed)
motor_right(0, right_forward, int(speed*radius))
else:
motor_left(1, left_backward, speed)
motor_right(1, right_backward, speed)
elif direction == 'no':
if turn == 'right':
motor_left(1, left_backward, speed)
motor_right(1, right_forward, speed)
elif turn == 'left':
motor_left(1, left_forward, speed)
motor_right(1, right_backward, speed)
else:
motorStop()
else:
pass
def destroy():
motorStop()
GPIO.cleanup() # Release resource
if __name__ == '__main__':
try:
speed_set = 100
setup()
motor_left(1, 1, speed_set)
motor_right(1, 1, speed_set)
time.sleep(1)
motor_left(1, 0, speed_set)
motor_right(1, 0, speed_set)
time.sleep(1)
motor_left(1, 1, speed_set)
motor_right(1, 1, speed_set)
time.sleep(1)
motor_left(1, 0, speed_set)
motor_right(1, 0, speed_set)
time.sleep(1)
except KeyboardInterrupt:
destroy()