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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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58
examples/DCTest.py
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#!/usr/bin/python
from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor
import time
import atexit
# create a default object, no changes to I2C address or frequency
mh = Adafruit_MotorHAT(addr=0x60)
# recommended for auto-disabling motors on shutdown!
def turnOffMotors():
mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
atexit.register(turnOffMotors)
################################# DC motor test!
myMotor = mh.getMotor(3)
# set the speed to start, from 0 (off) to 255 (max speed)
myMotor.setSpeed(150)
myMotor.run(Adafruit_MotorHAT.FORWARD);
# turn on motor
myMotor.run(Adafruit_MotorHAT.RELEASE);
while (True):
print "Forward! "
myMotor.run(Adafruit_MotorHAT.FORWARD)
print "\tSpeed up..."
for i in range(255):
myMotor.setSpeed(i)
time.sleep(0.01)
print "\tSlow down..."
for i in reversed(range(255)):
myMotor.setSpeed(i)
time.sleep(0.01)
print "Backward! "
myMotor.run(Adafruit_MotorHAT.BACKWARD)
print "\tSpeed up..."
for i in range(255):
myMotor.setSpeed(i)
time.sleep(0.01)
print "\tSlow down..."
for i in reversed(range(255)):
myMotor.setSpeed(i)
time.sleep(0.01)
print "Release"
myMotor.run(Adafruit_MotorHAT.RELEASE)
time.sleep(1.0)

67
examples/DualStepperTest.py
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#!/usr/bin/python
from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_StepperMotor
import time
import atexit
import threading
import random
# create a default object, no changes to I2C address or frequency
mh = Adafruit_MotorHAT()
# create empty threads (these will hold the stepper 1 and 2 threads)
st1 = threading.Thread()
st2 = threading.Thread()
# recommended for auto-disabling motors on shutdown!
def turnOffMotors():
mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
atexit.register(turnOffMotors)
myStepper1 = mh.getStepper(200, 1) # 200 steps/rev, motor port #1
myStepper2 = mh.getStepper(200, 2) # 200 steps/rev, motor port #1
myStepper1.setSpeed(60) # 30 RPM
myStepper2.setSpeed(60) # 30 RPM
stepstyles = [Adafruit_MotorHAT.SINGLE, Adafruit_MotorHAT.DOUBLE, Adafruit_MotorHAT.INTERLEAVE, Adafruit_MotorHAT.MICROSTEP]
def stepper_worker(stepper, numsteps, direction, style):
#print("Steppin!")
stepper.step(numsteps, direction, style)
#print("Done")
while (True):
if not st1.isAlive():
randomdir = random.randint(0, 1)
print("Stepper 1"),
if (randomdir == 0):
dir = Adafruit_MotorHAT.FORWARD
print("forward"),
else:
dir = Adafruit_MotorHAT.BACKWARD
print("backward"),
randomsteps = random.randint(10,50)
print("%d steps" % randomsteps)
st1 = threading.Thread(target=stepper_worker, args=(myStepper1, randomsteps, dir, stepstyles[random.randint(0,3)],))
st1.start()
if not st2.isAlive():
print("Stepper 2"),
randomdir = random.randint(0, 1)
if (randomdir == 0):
dir = Adafruit_MotorHAT.FORWARD
print("forward"),
else:
dir = Adafruit_MotorHAT.BACKWARD
print("backward"),
randomsteps = random.randint(10,50)
print("%d steps" % randomsteps)
st2 = threading.Thread(target=stepper_worker, args=(myStepper2, randomsteps, dir, stepstyles[random.randint(0,3)],))
st2.start()

120
examples/Robot.py
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# Simple two DC motor robot class. Exposes a simple LOGO turtle-like API for
# moving a robot forward, backward, and turning. See RobotTest.py for an
# example of using this class.
# Author: Tony DiCola
# License: MIT License https://opensource.org/licenses/MIT
import time
import atexit
from Adafruit_MotorHAT import Adafruit_MotorHAT
class Robot(object):
def __init__(self, addr=0x60, left_id=1, right_id=2, left_trim=0, right_trim=0,
stop_at_exit=True):
"""Create an instance of the robot. Can specify the following optional
parameters:
- addr: The I2C address of the motor HAT, default is 0x60.
- left_id: The ID of the left motor, default is 1.
- right_id: The ID of the right motor, default is 2.
- left_trim: Amount to offset the speed of the left motor, can be positive
or negative and use useful for matching the speed of both
motors. Default is 0.
- right_trim: Amount to offset the speed of the right motor (see above).
- stop_at_exit: Boolean to indicate if the motors should stop on program
exit. Default is True (highly recommended to keep this
value to prevent damage to the bot on program crash!).
"""
# Initialize motor HAT and left, right motor.
self._mh = Adafruit_MotorHAT(addr)
self._left = self._mh.getMotor(left_id)
self._right = self._mh.getMotor(right_id)
self._left_trim = left_trim
self._right_trim = right_trim
# Start with motors turned off.
self._left.run(Adafruit_MotorHAT.RELEASE)
self._right.run(Adafruit_MotorHAT.RELEASE)
# Configure all motors to stop at program exit if desired.
if stop_at_exit:
atexit.register(self.stop)
def _left_speed(self, speed):
"""Set the speed of the left motor, taking into account its trim offset.
"""
assert 0 <= speed <= 255, 'Speed must be a value between 0 to 255 inclusive!'
speed += self._left_trim
speed = max(0, min(255, speed)) # Constrain speed to 0-255 after trimming.
self._left.setSpeed(speed)
def _right_speed(self, speed):
"""Set the speed of the right motor, taking into account its trim offset.
"""
assert 0 <= speed <= 255, 'Speed must be a value between 0 to 255 inclusive!'
speed += self._right_trim
speed = max(0, min(255, speed)) # Constrain speed to 0-255 after trimming.
self._right.setSpeed(speed)
def stop(self):
"""Stop all movement."""
self._left.run(Adafruit_MotorHAT.RELEASE)
self._right.run(Adafruit_MotorHAT.RELEASE)
def forward(self, speed, seconds=None):
"""Move forward at the specified speed (0-255). Will start moving
forward and return unless a seconds value is specified, in which
case the robot will move forward for that amount of time and then stop.
"""
# Set motor speed and move both forward.
self._left_speed(speed)
self._right_speed(speed)
self._left.run(Adafruit_MotorHAT.FORWARD)
self._right.run(Adafruit_MotorHAT.FORWARD)
# If an amount of time is specified, move for that time and then stop.
if seconds is not None:
time.sleep(seconds)
self.stop()
def backward(self, speed, seconds=None):
"""Move backward at the specified speed (0-255). Will start moving
backward and return unless a seconds value is specified, in which
case the robot will move backward for that amount of time and then stop.
"""
# Set motor speed and move both backward.
self._left_speed(speed)
self._right_speed(speed)
self._left.run(Adafruit_MotorHAT.BACKWARD)
self._right.run(Adafruit_MotorHAT.BACKWARD)
# If an amount of time is specified, move for that time and then stop.
if seconds is not None:
time.sleep(seconds)
self.stop()
def right(self, speed, seconds=None):
"""Spin to the right at the specified speed. Will start spinning and
return unless a seconds value is specified, in which case the robot will
spin for that amount of time and then stop.
"""
# Set motor speed and move both forward.
self._left_speed(speed)
self._right_speed(speed)
self._left.run(Adafruit_MotorHAT.FORWARD)
self._right.run(Adafruit_MotorHAT.BACKWARD)
# If an amount of time is specified, move for that time and then stop.
if seconds is not None:
time.sleep(seconds)
self.stop()
def left(self, speed, seconds=None):
"""Spin to the left at the specified speed. Will start spinning and
return unless a seconds value is specified, in which case the robot will
spin for that amount of time and then stop.
"""
# Set motor speed and move both forward.
self._left_speed(speed)
self._right_speed(speed)
self._left.run(Adafruit_MotorHAT.BACKWARD)
self._right.run(Adafruit_MotorHAT.FORWARD)
# If an amount of time is specified, move for that time and then stop.
if seconds is not None:
time.sleep(seconds)
self.stop()

65
examples/RobotTest.py
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# Simple two DC motor robot class usage example.
# Author: Tony DiCola
# License: MIT License https://opensource.org/licenses/MIT
import time
# Import the Robot.py file (must be in the same directory as this file!).
import Robot
# Set the trim offset for each motor (left and right). This is a value that
# will offset the speed of movement of each motor in order to make them both
# move at the same desired speed. Because there's no feedback the robot doesn't
# know how fast each motor is spinning and the robot can pull to a side if one
# motor spins faster than the other motor. To determine the trim values move the
# robot forward slowly (around 100 speed) and watch if it veers to the left or
# right. If it veers left then the _right_ motor is spinning faster so try
# setting RIGHT_TRIM to a small negative value, like -5, to slow down the right
# motor. Likewise if it veers right then adjust the _left_ motor trim to a small
# negative value. Increase or decrease the trim value until the bot moves
# straight forward/backward.
LEFT_TRIM = 0
RIGHT_TRIM = 0
# Create an instance of the robot with the specified trim values.
# Not shown are other optional parameters:
# - addr: The I2C address of the motor HAT, default is 0x60.
# - left_id: The ID of the left motor, default is 1.
# - right_id: The ID of the right motor, default is 2.
robot = Robot.Robot(left_trim=LEFT_TRIM, right_trim=RIGHT_TRIM)
# Now move the robot around!
# Each call below takes two parameters:
# - speed: The speed of the movement, a value from 0-255. The higher the value
# the faster the movement. You need to start with a value around 100
# to get enough torque to move the robot.
# - time (seconds): Amount of time to perform the movement. After moving for
# this amount of seconds the robot will stop. This parameter
# is optional and if not specified the robot will start moving
# forever.
robot.forward(150, 1.0) # Move forward at speed 150 for 1 second.
robot.left(200, 0.5) # Spin left at speed 200 for 0.5 seconds.
robot.forward(150, 1.0) # Repeat the same movement 3 times below...
robot.left(200, 0.5)
robot.forward(150, 1.0)
robot.left(200, 0.5)
robot.forward(150, 1.0)
robot.right(200, 0.5)
# Spin in place slowly for a few seconds.
robot.right(100) # No time is specified so the robot will start spinning forever.
time.sleep(2.0) # Pause for a few seconds while the robot spins (you could do
# other processing here though!).
robot.stop() # Stop the robot from moving.
# Now move backwards and spin right a few times.
robot.backward(150, 1.0)
robot.right(200, 0.5)
robot.backward(150, 1.0)
robot.right(200, 0.5)
robot.backward(150, 1.0)
robot.right(200, 0.5)
robot.backward(150, 1.0)
# That's it! Note that on exit the robot will automatically stop moving.

71
examples/StackingTest.py
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#!/usr/bin/python
from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_StepperMotor
import time
import atexit
import threading
import random
# bottom hat is default address 0x60
bottomhat = Adafruit_MotorHAT(addr=0x60)
# top hat has A0 jumper closed, so its address 0x61
tophat = Adafruit_MotorHAT(addr=0x61)
# create empty threads (these will hold the stepper 1, 2 & 3 threads)
stepperThreads = [threading.Thread(), threading.Thread(), threading.Thread()]
# recommended for auto-disabling motors on shutdown!
def turnOffMotors():
tophat.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
tophat.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
tophat.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
tophat.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
bottomhat.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
bottomhat.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
bottomhat.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
bottomhat.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
atexit.register(turnOffMotors)
myStepper1 = bottomhat.getStepper(200, 1) # 200 steps/rev, motor port #1
myStepper2 = bottomhat.getStepper(200, 2) # 200 steps/rev, motor port #2
myStepper3 = tophat.getStepper(200, 1) # 200 steps/rev, motor port #1
myStepper1.setSpeed(60) # 60 RPM
myStepper2.setSpeed(30) # 30 RPM
myStepper3.setSpeed(15) # 15 RPM
# get a DC motor!
myMotor = tophat.getMotor(3)
# set the speed to start, from 0 (off) to 255 (max speed)
myMotor.setSpeed(150)
# turn on motor
myMotor.run(Adafruit_MotorHAT.FORWARD);
stepstyles = [Adafruit_MotorHAT.SINGLE, Adafruit_MotorHAT.DOUBLE, Adafruit_MotorHAT.INTERLEAVE]
steppers = [myStepper1, myStepper2, myStepper3]
def stepper_worker(stepper, numsteps, direction, style):
#print("Steppin!")
stepper.step(numsteps, direction, style)
#print("Done")
while (True):
for i in range(3):
if not stepperThreads[i].isAlive():
randomdir = random.randint(0, 1)
print("Stepper %d" % i),
if (randomdir == 0):
dir = Adafruit_MotorHAT.FORWARD
print("forward"),
else:
dir = Adafruit_MotorHAT.BACKWARD
print("backward"),
randomsteps = random.randint(10,50)
print("%d steps" % randomsteps)
stepperThreads[i] = threading.Thread(target=stepper_worker, args=(steppers[i], randomsteps, dir, stepstyles[random.randint(0,len(stepstyles)-1)],))
stepperThreads[i].start()
# also, lets switch around the DC motor!
myMotor.setSpeed(random.randint(0,255)) # random speed
#myMotor.run(random.randint(0,1)) # random forward/back

38
examples/StepperTest.py
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#!/usr/bin/python
#import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_Stepper
from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_StepperMotor
import time
import atexit
# create a default object, no changes to I2C address or frequency
mh = Adafruit_MotorHAT()
# recommended for auto-disabling motors on shutdown!
def turnOffMotors():
mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
atexit.register(turnOffMotors)
myStepper = mh.getStepper(200, 1) # 200 steps/rev, motor port #1
myStepper.setSpeed(30) # 30 RPM
while (True):
print("Single coil steps")
myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.SINGLE)
myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.SINGLE)
print("Double coil steps")
myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.DOUBLE)
myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.DOUBLE)
print("Interleaved coil steps")
myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.INTERLEAVE)
myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.INTERLEAVE)
print("Microsteps")
myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.MICROSTEP)
myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.MICROSTEP)