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New updates for testing

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This commit is contained in:
shrkey
2016-02-21 18:19:18 +00:00
parent 0abbcfd415
commit c2b05aeb22
1 changed files with 38 additions and 59 deletions
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97
dw640HAT/dw640HAT.py
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@@ -168,83 +168,62 @@ import time
class dw_DCMotor:
def __init__(self, controller, num):
self.speed = 0
self.MC = controller
self.motornum = num
modepin = in1 = in2 = 0
if (num == 0):
modepin = 11
in2 = 8
in1 = 9
in2 = 8 #phase
in1 = 9 #enable
elif (num == 1):
modepin = 11
in2 = 10
in1 = 11
in2 = 10 #phase
in1 = 11 #enable
elif (num == 2):
modepin = 13
in2 = 7
in1 = 6
in2 = 7 #phase
in1 = 6 #enable
elif (num == 3):
modepin = 13
in2 = 5
in1 = 4
in2 = 5 #phase
in1 = 4 #enable
elif (num == 4):
modepin = 15
in2 = 0
in1 = 1
in2 = 0 #phase
in1 = 1 #enable
elif (num == 5):
modepin = 15
in2 = 2
in1 = 3
in2 = 2 #phase
in1 = 3 #enable
else:
raise NameError('MotorHAT Motor must be between 1 and 6 inclusive')
self.MODEpin = modepin
self.IN1pin = in1
self.IN2pin = in2
self.PHpin = in1
self.ENpin = in2
def setMotorSpeed(self, value):
if(value > 0) and (value <= 255):
self.run(self, dw_MotorCONTROL.FORWARD, value)
if(value == 0):
self.run(self, dw_MotorCONTROL.RELEASE, value)
if(value < 0) and (value >= -255):
self.run(self, dw_MotorCONTROL.BACKWARD, abs(value))
def setMode(self, level):
def run(self, command, speed = 0):
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( GPIO.input( self.MODEpin ) == GPIO.LOW ):
if (command == dw_MotorCONTROL.FORWARD):
self.MC.setPin(self.IN2pin, 0)
self.MC.setPin(self.IN1pin, 1)
self.MC.setPin(self.PHpin, 0)
self.MC._pwm.setPWM(self.ENpin, 0, speed*16)
if (command == dw_MotorCONTROL.BACKWARD):
self.MC.setPin(self.IN1pin, 0)
self.MC.setPin(self.IN2pin, 1)
self.MC.setPin(self.PHpin, 1)
self.MC._pwm.setPWM(self.ENpin, 0, speed*16)
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)
self.MC.setPin(self.PHpin, 0)
self.MC.setPin(self.ENpin, 0)
def setSpeed(self, speed):
if (speed < 0):
speed = 0
if (speed > 255):
speed = 255
self.MC._pwm.setPWM(self.PWMpin, 0, speed*16)
self.MC._pwm.setPWM(self.ENpin, 0, speed*16)
class dw_MotorCONTROL:
FORWARD = 1
@@ -267,15 +246,15 @@ class dw_MotorCONTROL:
# self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ]
self._pwm = PWM(addr, debug=False)
self._pwm.setPWMFreq(self._frequency)
# Just gonna default to high for now
GPIO.setmode(GPIO.BCM)
GPIO.setup(11, GPIO.OUT)
GPIO.setup(13, GPIO.OUT)
GPIO.setup(15, GPIO.OUT)
GPIO.setup(17, GPIO.OUT)
GPIO.setup(27, GPIO.OUT)
GPIO.setup(22, GPIO.OUT)
GPIO.output(11, GPIO.LOW)
GPIO.output(13, GPIO.LOW)
GPIO.output(15, GPIO.LOW)
GPIO.output(17, GPIO.HIGH)
GPIO.output(27, GPIO.HIGH)
GPIO.output(22, GPIO.HIGH)
def setPin(self, pin, value):
if (pin < 0) or (pin > 15):