|
| import time |
| import Adafruit_BBIO.GPIO as GPIO |
| # from help on the googlegroups section of bbb.io! |
|
|
| m1 = "P9_42" |
| #m2 = "P9_41" |
|
|
| class LeftMotor(object): |
|
|
| def __init__(self, m1): |
| self.m1 = m1 |
| GPIO.setup(self.m1, GPIO.OUT) |
| self.stop() |
|
|
| def stop(self): |
| GPIO.output(self.m1, GPIO.LOW) |
|
|
| def forward(self): |
| GPIO.output(self.m1, GPIO.HIGH) |
|
|
| def reverse(self): |
| GPIO.output(self.m1, GPIO.HIGH) |
|
|
| #class RightMotor(object): |
|
|
| # def __init__(self, m2): |
| # self.m2 = m2 |
| # GPIO.setup(self.m2, GPIO.OUT) |
| # self.stop() |
|
|
| # def stop(self): |
| # GPIO.output(self.m2, GPIO.LOW) |
|
|
| # def forward(self): |
| # GPIO.output(self.m2, GPIO.LOW) |
|
|
| # def reverse(self): |
| # GPIO.output(self.m2, GPIO.HIGH) |
|
|
| class LeftWheel(object): |
| def __init__(self, LeftMotor): |
| self.LeftMotor = LeftMotor |
| self.stop() |
|
|
| def stop(self, go=5): |
| self.LeftMotor.stop() |
| time.sleep(1) |
|
|
| def forward(self, go=5): |
| self.LeftMotor.forward() |
| time.sleep(1) |
|
|
| def reverse(self, go=5): |
| self.LeftMotor.reverse() |
| time.sleep(1) |
|
|
| def leftTurnForward(self, go=5): |
| self.leftMotor.stop() |
| time.sleep(1) |
|
|
| def rightTurnForward(self, go=5): |
| self.LeftMotor.forward() |
| time.sleep(1) |
|
|
| def leftTurnReverse(self, go=5): |
| self.LeftMotor.stop() |
| time.sleep(1) |
|
|
| def rightTurnReverse(self, go=5): |
| self.LeftMotor.reverse() |
| time.sleep(1) |
|
|
| def leftPivot(self, go=5): |
| self.LeftMotor.reverse() |
| time.sleep(1) |
|
|
| def rightPivot(self, go=5): |
| self.LeftMotor.forward() |
| time.sleep(1) |
|
|
| #class RightWheel(object): |
|
|
| # def __init__(self, RightMotor): |
| # self.RightMotor = RightMotor |
| # self.stop() |
|
|
| # def stop(self, go=5): |
| # self.RightMotor.stop() |
| # time.sleep(1) |
|
|
| # def forward(self, go=5): |
| # self.RightMotor.forward() |
| # time.sleep(1) |
|
|
| # def reverse(self, go=5): |
| # self.RightMotor.reverse() |
| # time.sleep(1) |
|
|
| # def leftTurnForward(self, go=5): |
| # self.RightMotor.forward() |
| # time.sleep(1) |
|
|
| # def rightTurnForward(self, go=5): |
| # self.RightMotor.stop() |
| # time.sleep(1) |
|
|
| # def leftTurnReverse(self, go=5): |
| # self.RightMotor.reverse() |
| # time.sleep(1) |
|
|
| # def rightTurnReverse(self, go=5): |
| # self.RightMotor.stop() |
| # time.sleep(1) |
|
|
| # def leftPivot(self, go=5): |
| # self.RightMotor.forward() |
| # time.sleep(1) |
|
|
| # def rightPivot(self, go=5): |
| # self.RightMotor.reverse() |
| # time.sleep(1) |
|
|
| Left = LeftWheel(LeftMotor=LeftMotor(m1="P9_42")) |
| #Right = RightWheel(RightMotor=RightMotor(m2="P9_41")) |
|
|
| Left.forward(5) |
| #Right.forward(5) |
|
|
| Left.reverse(10) |
| #Right.reverse(5) |
|
|
| #Left.stop(8) |
| #Right.forward(8) |
|
|
| Left.stop() |
| #Right.stop() |
|
|
| #GPIO.cleanup() |