forked from robotstreamer/robotstreamer
-
Notifications
You must be signed in to change notification settings - Fork 0
/
l298n_interface.py
176 lines (124 loc) · 4.26 KB
/
l298n_interface.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
import time
import RPi.GPIO as GPIO
import robot_util
movementSystemActive = False
class l298n_driver:
def __init__(self, defs):
#setup pins
self.defs = defs
self.enable = self.defs[0]
self.l1 = self.defs[1]
self.l2 = self.defs[2]
self.r1 = self.defs[3]
self.r2 = self.defs[4]
print (defs)
#pin setups
GPIO.setmode(GPIO.BCM) #pin mode
GPIO.setup(self.enable, GPIO.OUT) #set as out
GPIO.setup(self.l1, GPIO.OUT) #set as out
GPIO.setup(self.l2, GPIO.OUT) #set as out
GPIO.setup(self.r1, GPIO.OUT) #set as out
GPIO.setup(self.r2, GPIO.OUT) #set as out
GPIO.output(self.r1, 0)
GPIO.output(self.r2, 0)
GPIO.output(self.l1, 0)
GPIO.output(self.l2, 0)
#pwm COULD be used for speed although its better for current limit
self.pwm = GPIO.PWM(self.enable, 1)
self.pwm.ChangeFrequency(10000)
self.pwm.start(100)
self.movementSystemActive = False
print("l298n_driver initialised")
def move(self, dir):
if self.movementSystemActive == False:
self.movementSystemActive = True
print("Move: ", dir)
if dir == "R":
GPIO.output(self.r1, 0)
GPIO.output(self.r2, 1)
GPIO.output(self.l1, 1)
GPIO.output(self.l2, 0)
time.sleep(0.3)
if dir == "L":
GPIO.output(self.r1, 1)
GPIO.output(self.r2, 0)
GPIO.output(self.l1, 0)
GPIO.output(self.l2, 1)
time.sleep(0.3)
if dir == "F":
#t
GPIO.output(self.r1, 1)
GPIO.output(self.r2, 0)
GPIO.output(self.l1, 1)
GPIO.output(self.l2, 0)
time.sleep(0.5)
if dir == "B":
GPIO.output(self.r1, 0)
GPIO.output(self.r2, 1)
GPIO.output(self.l1, 0)
GPIO.output(self.l2, 1)
time.sleep(0.5)
#all stop
GPIO.output(self.r1, 0)
GPIO.output(self.r2, 0)
GPIO.output(self.l1, 0)
GPIO.output(self.l2, 0)
#prevents sharp change
#if dir == "F":
# time.sleep(1)
#if dir == "B":
# time.sleep(1)
self.movementSystemActive = False
def burnIn(self, dir):
if dir == "R":
GPIO.output(self.r1, 0)
GPIO.output(self.r2, 1)
GPIO.output(self.l1, 1)
GPIO.output(self.l2, 0)
if dir == "L":
GPIO.output(self.r1, 1)
GPIO.output(self.r2, 0)
GPIO.output(self.l1, 0)
GPIO.output(self.l2, 1)
if dir == "F":
GPIO.output(self.r1, 1)
GPIO.output(self.r2, 0)
GPIO.output(self.l1, 1)
GPIO.output(self.l2, 0)
if dir == "B":
GPIO.output(self.r1, 0)
GPIO.output(self.r2, 1)
GPIO.output(self.l1, 0)
GPIO.output(self.l2, 1)
def init():
global l298n
l298n = l298n_driver([5, 6, 13, 19, 26])
#5 in a row = 5,6,13,19,26
def handleCommand(command, keyPosition, price=0):
print("handleCommand", command)
if keyPosition == 'down':
robot_util.handleSoundCommand(command, keyPosition, price)
l298n.move(command)
def inputFromKeyboard():
while True:
data = input(">")
if data == "w":
handleCommand('F', 'down')
if data == "s":
handleCommand('B', 'down')
if data == "a":
handleCommand('R', 'down')
if data == "d":
handleCommand('L', 'down')
if data == "B":
print("burn in B")
l298n.burnIn("B")
if data == "F":
print("burn in F")
l298n.burnIn("F")
if data == "S":
print("burn in sim")
l298n.burnIn("sim")
if __name__ == "__main__":
init()
inputFromKeyboard()