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CARIA.1.0.0

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This commit is contained in:
ccunatbrule
2023-02-12 12:24:39 +01:00
parent 1f9312201e
commit 0a6ce8df24
61 changed files with 989 additions and 375 deletions
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82
AlphaBot-CARIA/Pi-python/AlphaBot.py Normal file
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import RPi.GPIO as GPIO
import time
class AlphaBot(object):
def __init__(self,in1=12,in2=13,ena=6,in3=20,in4=21,enb=26):
self.IN1 = in1
self.IN2 = in2
self.IN3 = in3
self.IN4 = in4
self.ENA = ena
self.ENB = enb
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(self.IN1,GPIO.OUT)
GPIO.setup(self.IN2,GPIO.OUT)
GPIO.setup(self.IN3,GPIO.OUT)
GPIO.setup(self.IN4,GPIO.OUT)
GPIO.setup(self.ENA,GPIO.OUT)
GPIO.setup(self.ENB,GPIO.OUT)
self.forward()
self.PWMA = GPIO.PWM(self.ENA,500)
self.PWMB = GPIO.PWM(self.ENB,500)
self.PWMA.start(50)
self.PWMB.start(50)
def forward(self):
GPIO.output(self.IN1,GPIO.HIGH)
GPIO.output(self.IN2,GPIO.LOW)
GPIO.output(self.IN3,GPIO.LOW)
GPIO.output(self.IN4,GPIO.HIGH)
def stop(self):
GPIO.output(self.IN1,GPIO.LOW)
GPIO.output(self.IN2,GPIO.LOW)
GPIO.output(self.IN3,GPIO.LOW)
GPIO.output(self.IN4,GPIO.LOW)
def backward(self):
GPIO.output(self.IN1,GPIO.LOW)
GPIO.output(self.IN2,GPIO.HIGH)
GPIO.output(self.IN3,GPIO.HIGH)
GPIO.output(self.IN4,GPIO.LOW)
def left(self):
GPIO.output(self.IN1,GPIO.LOW)
GPIO.output(self.IN2,GPIO.LOW)
GPIO.output(self.IN3,GPIO.LOW)
GPIO.output(self.IN4,GPIO.HIGH)
def right(self):
GPIO.output(self.IN1,GPIO.HIGH)
GPIO.output(self.IN2,GPIO.LOW)
GPIO.output(self.IN3,GPIO.LOW)
GPIO.output(self.IN4,GPIO.LOW)
def setPWMA(self,value):
self.PWMA.ChangeDutyCycle(value)
def setPWMB(self,value):
self.PWMB.ChangeDutyCycle(value)
def setMotor(self, left, right):
if((right >= 0) and (right <= 100)):
GPIO.output(self.IN1,GPIO.HIGH)
GPIO.output(self.IN2,GPIO.LOW)
self.PWMA.ChangeDutyCycle(right)
elif((right < 0) and (right >= -100)):
GPIO.output(self.IN1,GPIO.LOW)
GPIO.output(self.IN2,GPIO.HIGH)
self.PWMA.ChangeDutyCycle(0 - right)
if((left >= 0) and (left <= 100)):
GPIO.output(self.IN3,GPIO.HIGH)
GPIO.output(self.IN4,GPIO.LOW)
self.PWMB.ChangeDutyCycle(left)
elif((left < 0) and (left >= -100)):
GPIO.output(self.IN3,GPIO.LOW)
GPIO.output(self.IN4,GPIO.HIGH)
self.PWMB.ChangeDutyCycle(0 - left)