0a6ce8df24
Restruct all repositories Add : - Files UserWebSite - IA openCV Tuto - Alphabot docs for first maquette
83 lines
2.1 KiB
Python
83 lines
2.1 KiB
Python
import RPi.GPIO as GPIO
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import time
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class AlphaBot(object):
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def __init__(self,in1=12,in2=13,ena=6,in3=20,in4=21,enb=26):
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self.IN1 = in1
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self.IN2 = in2
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self.IN3 = in3
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self.IN4 = in4
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self.ENA = ena
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self.ENB = enb
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GPIO.setmode(GPIO.BCM)
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GPIO.setwarnings(False)
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GPIO.setup(self.IN1,GPIO.OUT)
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GPIO.setup(self.IN2,GPIO.OUT)
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GPIO.setup(self.IN3,GPIO.OUT)
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GPIO.setup(self.IN4,GPIO.OUT)
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GPIO.setup(self.ENA,GPIO.OUT)
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GPIO.setup(self.ENB,GPIO.OUT)
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self.forward()
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self.PWMA = GPIO.PWM(self.ENA,500)
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self.PWMB = GPIO.PWM(self.ENB,500)
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self.PWMA.start(50)
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self.PWMB.start(50)
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def forward(self):
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GPIO.output(self.IN1,GPIO.HIGH)
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GPIO.output(self.IN2,GPIO.LOW)
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GPIO.output(self.IN3,GPIO.LOW)
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GPIO.output(self.IN4,GPIO.HIGH)
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def stop(self):
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GPIO.output(self.IN1,GPIO.LOW)
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GPIO.output(self.IN2,GPIO.LOW)
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GPIO.output(self.IN3,GPIO.LOW)
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GPIO.output(self.IN4,GPIO.LOW)
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def backward(self):
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GPIO.output(self.IN1,GPIO.LOW)
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GPIO.output(self.IN2,GPIO.HIGH)
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GPIO.output(self.IN3,GPIO.HIGH)
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GPIO.output(self.IN4,GPIO.LOW)
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def left(self):
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GPIO.output(self.IN1,GPIO.LOW)
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GPIO.output(self.IN2,GPIO.LOW)
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GPIO.output(self.IN3,GPIO.LOW)
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GPIO.output(self.IN4,GPIO.HIGH)
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def right(self):
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GPIO.output(self.IN1,GPIO.HIGH)
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GPIO.output(self.IN2,GPIO.LOW)
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GPIO.output(self.IN3,GPIO.LOW)
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GPIO.output(self.IN4,GPIO.LOW)
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def setPWMA(self,value):
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self.PWMA.ChangeDutyCycle(value)
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def setPWMB(self,value):
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self.PWMB.ChangeDutyCycle(value)
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def setMotor(self, left, right):
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if((right >= 0) and (right <= 100)):
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GPIO.output(self.IN1,GPIO.HIGH)
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GPIO.output(self.IN2,GPIO.LOW)
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self.PWMA.ChangeDutyCycle(right)
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elif((right < 0) and (right >= -100)):
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GPIO.output(self.IN1,GPIO.LOW)
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GPIO.output(self.IN2,GPIO.HIGH)
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self.PWMA.ChangeDutyCycle(0 - right)
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if((left >= 0) and (left <= 100)):
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GPIO.output(self.IN3,GPIO.HIGH)
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GPIO.output(self.IN4,GPIO.LOW)
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self.PWMB.ChangeDutyCycle(left)
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elif((left < 0) and (left >= -100)):
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GPIO.output(self.IN3,GPIO.LOW)
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GPIO.output(self.IN4,GPIO.HIGH)
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self.PWMB.ChangeDutyCycle(0 - left)
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