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Copy pathDalekV2Drive.py
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DalekV2Drive.py
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#!/usr/bin/env python
import RPi.GPIO as GPIO # Import the GPIO Library
# Set variables for the GPIO motor pins
# print '\n\nSet variables for the GPIO motor pins'
pinMotorFRSpeed=11
pinMotorFRForwards=15
pinMotorFRBackwards=13
pinMotorFLSpeed=22
pinMotorFLForwards=26
pinMotorFLBackwards=24
pinMotorBRSpeed = 8
pinMotorBRForwards = 10
pinMotorBRBackwards = 12
pinMotorBLSpeed = 19
pinMotorBLForwards = 23
pinMotorBLBackwards = 21
#======================================================================
# General Functions
#
# init(). Initialises GPIO pins, switches motors and LEDs Off, etc
def init():
global pwmMotorFRSpeed, pwmMotorFLSpeed, pwmMotorBRSpeed, pwmMotorBLSpeed, Stop
# How many times to turn the pin on and off each second
print 'Set Frequency'
Frequency = 20
# How long the pin stays on each cycle, as a percent (here, it's 50%) - AKA Speed
print 'Set DutyCycle'
DutyCycle = 50
# Settng the duty cycle to 0 means the motors will not turn
print 'Set Stop'
Stop = 0
# Set the GPIO modes
print 'Set the GPIO mode'
# Use physical pin numbering
GPIO.setmode(GPIO.BOARD)
# Turn GPIO Warnings off
# GPIO.setwarnings(False)
# Use PWM on motor outputs so motors can be controlled
# Setup Motor FR
print '\nSet the GPIO Pin mode to be Output - Motor FR'
GPIO.setup(pinMotorFRSpeed, GPIO.OUT)
GPIO.setup(pinMotorFRForwards, GPIO.OUT)
GPIO.setup(pinMotorFRBackwards, GPIO.OUT)
print 'Set the GPIO to software PWM at ' + str(Frequency) + ' Hertz - Motor FR'
pwmMotorFRSpeed = GPIO.PWM(pinMotorFRSpeed, Frequency)
print 'Start the software PWM with a duty cycle of 0 (i.e. not moving) - Moter FR'
pwmMotorFRSpeed.start(Stop)
# Setup Motor FL
print '\nSet the GPIO Pin mode to be Output - Motor FL'
GPIO.setup(pinMotorFLSpeed, GPIO.OUT)
GPIO.setup(pinMotorFLForwards, GPIO.OUT)
GPIO.setup(pinMotorFLBackwards, GPIO.OUT)
print 'Set the GPIO to software PWM at ' + str(Frequency) + ' Hertz - Motor FL'
pwmMotorFLSpeed = GPIO.PWM(pinMotorFLSpeed, Frequency)
print 'Start the software PWM with a duty cycle of 0 (i.e. not moving) - Moter FL'
pwmMotorFLSpeed.start(Stop)
# Setup Motor BR
print '\nSet the GPIO Pin mode to be Output - Motor BR'
GPIO.setup(pinMotorBRSpeed, GPIO.OUT)
GPIO.setup(pinMotorBRForwards, GPIO.OUT)
GPIO.setup(pinMotorBRBackwards, GPIO.OUT)
print 'Set the GPIO to software PWM at ' + str(Frequency) + ' Hertz - Motor BR'
pwmMotorBRSpeed = GPIO.PWM(pinMotorBRSpeed, Frequency)
print 'Start the software PWM with a duty cycle of 0 (i.e. not moving) - Moter BR'
pwmMotorBRSpeed.start(Stop)
# Setup Motor BL
print '\nSet the GPIO Pin mode to be Output - Motor BL'
GPIO.setup(pinMotorBLSpeed, GPIO.OUT)
GPIO.setup(pinMotorBLForwards, GPIO.OUT)
GPIO.setup(pinMotorBLBackwards, GPIO.OUT)
print 'Set the GPIO to software PWM at ' + str(Frequency) + ' Hertz - Motor BL'
pwmMotorBLSpeed = GPIO.PWM(pinMotorBLSpeed, Frequency)
print 'Start the software PWM with a duty cycle of 0 (i.e. not moving) - Moter BL\n'
pwmMotorBLSpeed.start(Stop)
# cleanup(). Sets all motors off and sets GPIO to standard values
def cleanup():
stop()
GPIO.cleanup()
# End of General Functions
#======================================================================
#======================================================================
# Motor Functions
# Turn all motors off
def stop():
pwmMotorFRSpeed.ChangeDutyCycle(Stop)
pwmMotorFLSpeed.ChangeDutyCycle(Stop)
pwmMotorBRSpeed.ChangeDutyCycle(Stop)
pwmMotorBLSpeed.ChangeDutyCycle(Stop)
# forward(speed): Sets all 4 motors to move forward at speed. 0 <= speed <= 100
def forward(Speed):
pwmMotorFRSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorFRForwards, GPIO.HIGH)
GPIO.output(pinMotorFRBackwards, GPIO.LOW)
pwmMotorFLSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorFLForwards, GPIO.HIGH)
GPIO.output(pinMotorFLBackwards, GPIO.LOW)
pwmMotorBRSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorBRForwards, GPIO.HIGH)
GPIO.output(pinMotorBRBackwards, GPIO.LOW)
pwmMotorBLSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorBLForwards, GPIO.HIGH)
GPIO.output(pinMotorBLBackwards, GPIO.LOW)
# backward(speed): Sets all 4 motors to reverse at speed. 0 <= speed <= 100
def backward(Speed):
pwmMotorFRSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorFRForwards, GPIO.LOW)
GPIO.output(pinMotorFRBackwards, GPIO.HIGH)
pwmMotorFLSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorFLForwards, GPIO.LOW)
GPIO.output(pinMotorFLBackwards, GPIO.HIGH)
pwmMotorBRSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorBRForwards, GPIO.LOW)
GPIO.output(pinMotorBRBackwards, GPIO.HIGH)
pwmMotorBLSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorBLForwards, GPIO.LOW)
GPIO.output(pinMotorBLBackwards, GPIO.HIGH)
# The theory for the next 4 is that by setting the inside wheels backward and putting a small value there it will
# act like a braake and cause the Bot to turn rather than just spinning.
# turnForwardRight(leftSpeed, rightSpeed): Moves forwards in an arc by setting Left forward and Right backward
def turnForwardRight(leftSpeed, rightSpeed):
pwmMotorFRSpeed.ChangeDutyCycle(rightSpeed)
GPIO.output(pinMotorFRForwards, GPIO.LOW)
GPIO.output(pinMotorFRBackwards, GPIO.HIGH)
pwmMotorBRSpeed.ChangeDutyCycle(rightSpeed)
GPIO.output(pinMotorBRForwards, GPIO.LOW)
GPIO.output(pinMotorBRBackwards, GPIO.HIGH)
pwmMotorFLSpeed.ChangeDutyCycle(leftSpeed)
GPIO.output(pinMotorFLForwards, GPIO.HIGH)
GPIO.output(pinMotorFLBackwards, GPIO.LOW)
pwmMotorBLSpeed.ChangeDutyCycle(leftSpeed)
GPIO.output(pinMotorBLForwards, GPIO.HIGH)
GPIO.output(pinMotorBLBackwards, GPIO.LOW)
# turnForwardLeft(leftSpeed, rightSpeed): Moves forwards in an arc by setting Left backward and Right forward
def turnForwardLeft(leftSpeed, rightSpeed):
pwmMotorFRSpeed.ChangeDutyCycle(rightSpeed)
GPIO.output(pinMotorFRForwards, GPIO.HIGH)
GPIO.output(pinMotorFRBackwards, GPIO.LOW)
pwmMotorBRSpeed.ChangeDutyCycle(rightSpeed)
GPIO.output(pinMotorBRForwards, GPIO.HIGH)
GPIO.output(pinMotorBRBackwards, GPIO.LOW)
pwmMotorFLSpeed.ChangeDutyCycle(leftSpeed)
GPIO.output(pinMotorFLForwards, GPIO.LOW)
GPIO.output(pinMotorFLBackwards, GPIO.HIGH)
pwmMotorBLSpeed.ChangeDutyCycle(leftSpeed)
GPIO.output(pinMotorBLForwards, GPIO.LOW)
GPIO.output(pinMotorBLBackwards, GPIO.HIGH)
# turnBackwardRight(leftSpeed, rightSpeed): Moves backward in an arc by setting Right forward and left backward
def turnBackwardRight(leftSpeed, rightSpeed):
pwmMotorFRSpeed.ChangeDutyCycle(rightSpeed)
GPIO.output(pinMotorFRForwards, GPIO.LOW)
GPIO.output(pinMotorFRBackwards, GPIO.HIGH)
pwmMotorBRSpeed.ChangeDutyCycle(rightSpeed)
GPIO.output(pinMotorBRForwards, GPIO.LOW)
GPIO.output(pinMotorBRBackwards, GPIO.HIGH)
pwmMotorFLSpeed.ChangeDutyCycle(leftSpeed)
GPIO.output(pinMotorFLForwards, GPIO.HIGH)
GPIO.output(pinMotorFLBackwards, GPIO.LOW)
pwmMotorBLSpeed.ChangeDutyCycle(leftSpeed)
GPIO.output(pinMotorBLForwards, GPIO.HIGH)
GPIO.output(pinMotorBLBackwards, GPIO.LOW)
# turnBackwardLeft(leftSpeed, rightSpeed): Moves backward in an arc by setting Right backward and left forward
def turnBackwardLeft(leftSpeed, rightSpeed):
pwmMotorFRSpeed.ChangeDutyCycle(rightSpeed)
GPIO.output(pinMotorFRForwards, GPIO.LOW)
GPIO.output(pinMotorFRBackwards, GPIO.HIGH)
pwmMotorBRSpeed.ChangeDutyCycle(rightSpeed)
GPIO.output(pinMotorBRForwards, GPIO.LOW)
GPIO.output(pinMotorBRBackwards, GPIO.HIGH)
pwmMotorFLSpeed.ChangeDutyCycle(leftSpeed)
GPIO.output(pinMotorFLForwards, GPIO.HIGH)
GPIO.output(pinMotorFLBackwards, GPIO.LOW)
pwmMotorBLSpeed.ChangeDutyCycle(leftSpeed)
GPIO.output(pinMotorBLForwards, GPIO.HIGH)
GPIO.output(pinMotorBLBackwards, GPIO.LOW)
# spinLeft(speed): Sets motors to turn opposite directions at speed. 0 <= speed <= 100
def spinLeft(Speed):
pwmMotorFRSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorFRForwards, GPIO.HIGH)
GPIO.output(pinMotorFRBackwards, GPIO.LOW)
pwmMotorBRSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorBRForwards, GPIO.HIGH)
GPIO.output(pinMotorBRBackwards, GPIO.LOW)
pwmMotorFLSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorFLForwards, GPIO.LOW)
GPIO.output(pinMotorFLBackwards, GPIO.HIGH)
pwmMotorBLSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorBLForwards, GPIO.LOW)
GPIO.output(pinMotorBLBackwards, GPIO.HIGH)
# spinRight(speed): Sets motors to turn opposite directions at speed. 0 <= speed <= 100
def spinRight(Speed):
pwmMotorFLSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorFLForwards, GPIO.HIGH)
GPIO.output(pinMotorFLBackwards, GPIO.LOW)
pwmMotorBLSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorBLForwards, GPIO.HIGH)
GPIO.output(pinMotorBLBackwards, GPIO.LOW)
pwmMotorFRSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorFRForwards, GPIO.LOW)
GPIO.output(pinMotorFRBackwards, GPIO.HIGH)
pwmMotorBRSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorBRForwards, GPIO.LOW)
GPIO.output(pinMotorBRBackwards, GPIO.HIGH)
# End of Motor Functions
#======================================================================
#======================================================================
# Test Functions
#======================================================================
def FRF(Speed):
pwmMotorFRSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorFRForwards, GPIO.HIGH)
GPIO.output(pinMotorFRBackwards, GPIO.LOW)
def FLF(Speed):
pwmMotorFLSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorFLForwards, GPIO.HIGH)
GPIO.output(pinMotorFLBackwards, GPIO.LOW)
def BRF(Speed):
pwmMotorBRSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorBRForwards, GPIO.HIGH)
GPIO.output(pinMotorBRBackwards, GPIO.LOW)
def BLF(Speed):
pwmMotorBLSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorBLForwards, GPIO.HIGH)
GPIO.output(pinMotorBLBackwards, GPIO.LOW)
def FRB(Speed):
pwmMotorFRSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorFRForwards, GPIO.LOW)
GPIO.output(pinMotorFRBackwards, GPIO.HIGH)
def FLB(Speed):
pwmMotorFLSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorFLForwards, GPIO.LOW)
GPIO.output(pinMotorFLBackwards, GPIO.HIGH)
def BRB(Speed):
pwmMotorBRSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorBRForwards, GPIO.LOW)
GPIO.output(pinMotorBRBackwards, GPIO.HIGH)
def BLB(Speed):
pwmMotorBLSpeed.ChangeDutyCycle(Speed)
GPIO.output(pinMotorBLForwards, GPIO.LOW)
GPIO.output(pinMotorBLBackwards, GPIO.HIGH)
# End of Test Functions
#======================================================================
#======================================================================
# __main__ Code
#======================================================================
if __name__ == "__main__":
print("\n\nThis file cannot be run directly. It is intended to be imported\n\n")
else:
print("\n\nImporting DalekV2Drive.py")
# End of __main__ Code
#======================================================================