h3n3/darkwater_python_640
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bit more work on classes

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This commit is contained in:
shrkey
2016-02-14 15:43:46 +00:00
parent 365c276835
commit 0abbcfd415
7 changed files with 72 additions and 445 deletions
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98
dw640HAT/dw640HAT.py
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@@ -1,5 +1,6 @@
#!/usr/bin/python
import RPi.GPIO as GPIO
from Adafruit_PWM_Servo_Driver import PWM
import time
@@ -169,42 +170,75 @@ class dw_DCMotor:
def __init__(self, controller, num):
self.MC = controller
self.motornum = num
pwm = in1 = in2 = 0
modepin = in1 = in2 = 0
if (num == 0):
pwm = 8
in2 = 9
in1 = 10
modepin = 11
in2 = 8
in1 = 9
elif (num == 1):
pwm = 13
in2 = 12
modepin = 11
in2 = 10
in1 = 11
elif (num == 2):
pwm = 2
in2 = 3
in1 = 4
modepin = 13
in2 = 7
in1 = 6
elif (num == 3):
pwm = 7
in2 = 6
in1 = 5
modepin = 13
in2 = 5
in1 = 4
elif (num == 4):
modepin = 15
in2 = 0
in1 = 1
elif (num == 5):
modepin = 15
in2 = 2
in1 = 3
else:
raise NameError('MotorHAT Motor must be between 1 and 4 inclusive')
self.PWMpin = pwm
raise NameError('MotorHAT Motor must be between 1 and 6 inclusive')
self.MODEpin = modepin
self.IN1pin = in1
self.IN2pin = in2
def setMode(self, level):
if not self.MC:
return
if (level == dw_MotorCONTROL.ININ):
GPIO.output(self.MODEpin, GPIO.LOW)
if (level == dw_MotorCONTROL.PHASE):
GPIO.output(self.MODEpin, GPIO.HIGH)
def run(self, command):
if not self.MC:
return
if (command == dw_MotorCONTROL.FORWARD):
self.MC.setPin(self.IN2pin, 0)
self.MC.setPin(self.IN1pin, 1)
if (command == dw_MotorCONTROL.BACKWARD):
self.MC.setPin(self.IN1pin, 0)
self.MC.setPin(self.IN2pin, 1)
if (command == dw_MotorCONTROL.RELEASE):
self.MC.setPin(self.IN1pin, 0)
self.MC.setPin(self.IN2pin, 0)
if( GPIO.input( self.MODEpin ) == GPIO.LOW ):
if (command == dw_MotorCONTROL.FORWARD):
self.MC.setPin(self.IN2pin, 0)
self.MC.setPin(self.IN1pin, 1)
if (command == dw_MotorCONTROL.BACKWARD):
self.MC.setPin(self.IN1pin, 0)
self.MC.setPin(self.IN2pin, 1)
if (command == dw_MotorCONTROL.RELEASE):
self.MC.setPin(self.IN1pin, 0)
self.MC.setPin(self.IN2pin, 0)
else:
if (command == dw_MotorCONTROL.FORWARD):
self.MC.setPin(self.IN2pin, 0)
self.MC.setPin(self.IN1pin, 1)
if (command == dw_MotorCONTROL.BACKWARD):
self.MC.setPin(self.IN1pin, 0)
self.MC.setPin(self.IN2pin, 1)
if (command == dw_MotorCONTROL.RELEASE):
self.MC.setPin(self.IN1pin, 0)
self.MC.setPin(self.IN2pin, 0)
def setSpeed(self, speed):
if (speed < 0):
speed = 0
@@ -223,14 +257,26 @@ class dw_MotorCONTROL:
INTERLEAVE = 3
MICROSTEP = 4
ININ = 0
PHASE = 1
def __init__(self, addr = 0x60, freq = 1600):
self._i2caddr = addr # default addr on HAT
self._frequency = freq # default @1600Hz PWM freq
self.motors = [ dw_DCMotor(self, m) for m in range(4) ]
self.motors = [ dw_DCMotor(self, m) for m in range(6) ]
# self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ]
self._pwm = PWM(addr, debug=False)
self._pwm.setPWMFreq(self._frequency)
GPIO.setmode(GPIO.BCM)
GPIO.setup(11, GPIO.OUT)
GPIO.setup(13, GPIO.OUT)
GPIO.setup(15, GPIO.OUT)
GPIO.output(11, GPIO.LOW)
GPIO.output(13, GPIO.LOW)
GPIO.output(15, GPIO.LOW)
def setPin(self, pin, value):
if (pin < 0) or (pin > 15):
raise NameError('PWM pin must be between 0 and 15 inclusive')
@@ -247,6 +293,6 @@ class dw_MotorCONTROL:
# return self.steppers[num-1]
def getMotor(self, num):
if (num < 1) or (num > 4):
raise NameError('MotorHAT Motor must be between 1 and 4 inclusive')
if (num < 1) or (num > 6):
raise NameError('MotorHAT Motor must be between 1 and 6 inclusive')
return self.motors[num-1]