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motor test

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This commit is contained in:
shrkey
2016-08-15 20:59:26 +01:00
parent c761cb6f76
commit 96f863e3b6
3 changed files with 95 additions and 20 deletions
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29
darkwater_escape/darkwater_escape.py
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@@ -24,19 +24,19 @@ class dw_Motor:
self.servo_zero = math.trunc( ( self.servo_min + self.servo_max ) / 2 ) # halfway = 0 degrees self.servo_zero = math.trunc( ( self.servo_min + self.servo_max ) / 2 ) # halfway = 0 degrees
if (num == 0): if (num == 0):
self.pin = 9 self.pin = 0
elif (num == 1): elif (num == 1):
self.pin = 8 self.pin = 1
elif (num == 2): elif (num == 2):
self.pin = 10 self.pin = 2
elif (num == 3): elif (num == 3):
self.pin = 11 self.pin = 3
elif (num == 4): elif (num == 4):
self.pin = 12 self.pin = 5
elif (num == 5): elif (num == 5):
self.pin = 13 self.pin = 4
else: else:
raise NameError('Motors must be between 1 and 12 inclusive') raise NameError('Port must be between 1 and 12 inclusive')
# switch off # switch off
self.off() self.off()
@@ -92,21 +92,20 @@ class dw_Servo:
self.servo_zero = math.trunc( ( self.servo_min + self.servo_max ) / 2 ) # halfway = 0 degrees self.servo_zero = math.trunc( ( self.servo_min + self.servo_max ) / 2 ) # halfway = 0 degrees
if (num == 0): if (num == 0):
self.pin = 0 self.pin = 9
elif (num == 1): elif (num == 1):
self.pin = 1 self.pin = 8
elif (num == 2): elif (num == 2):
self.pin = 2 self.pin = 10
elif (num == 3): elif (num == 3):
self.pin = 3 self.pin = 11
elif (num == 4): elif (num == 4):
self.pin = 5 self.pin = 12
elif (num == 5): elif (num == 5):
self.pin = 4 self.pin = 13
else: else:
raise NameError('Port must be between 1 and 12 inclusive') raise NameError('Motors must be between 1 and 12 inclusive')
# switch off # switch off
self.off() self.off()

84
escapemotortest.py
View File

@@ -1,7 +1,83 @@
import time import time
from dwescapeHAT import dw_PWMCONTROL, dw_PWM from darkwater_640.darkwater_640 import dw_Controller, dw_Servo, dw_Motor
dw = dw_PWMCONTROL( addr=0x61 ) dw = dw_Controller( addr=0x61 )
s = dw.getSERVO(1) m1 = dw.getMotor(1)
m2 = dw.getMotor(2)
m3 = dw.getMotor(3)
m4 = dw.getMotor(4)
m5 = dw.getMotor(5)
m6 = dw.getMotor(6)
s.off(); m1.setMotorSpeed(0)
m2.setMotorSpeed(0)
m3.setMotorSpeed(0)
m4.setMotorSpeed(0)
m5.setMotorSpeed(0)
m6.setMotorSpeed(0)
time.sleep(1)
print "Set forward - "
print "Motor 1"
m1.setMotorSpeed(255)
time.sleep(1)
print "Motor 2"
m2.setMotorSpeed(255)
time.sleep(1)
print "Motor 3"
m3.setMotorSpeed(255)
time.sleep(1)
print "Motor 4"
m4.setMotorSpeed(255)
time.sleep(1)
print "Motor 5"
m5.setMotorSpeed(255)
time.sleep(1)
print "Motor 6"
m6.setMotorSpeed(255)
time.sleep(1)
print "Stopping - "
print "Motor 1"
m1.setMotorSpeed(0)
time.sleep(1)
print "Motor 2"
m2.setMotorSpeed(0)
time.sleep(1)
print "Motor 3"
m3.setMotorSpeed(0)
time.sleep(1)
print "Motor 4"
m4.setMotorSpeed(0)
time.sleep(1)
print "Motor 5"
m5.setMotorSpeed(0)
time.sleep(1)
print "Motor 6"
m6.setMotorSpeed(0)
time.sleep(1)
print "Set reverse - "
print "Motor 1"
m1.setMotorSpeed(-255)
time.sleep(1)
print "Motor 2"
m2.setMotorSpeed(-255)
time.sleep(1)
print "Motor 3"
m3.setMotorSpeed(-255)
time.sleep(1)
print "Motor 4"
m4.setMotorSpeed(-255)
time.sleep(1)
print "Motor 5"
m5.setMotorSpeed(-255)
time.sleep(1)
print "Motor 6"
m6.setMotorSpeed(-255)
time.sleep(1)
print "All stop"
m1.setMotorSpeed(0)
m2.setMotorSpeed(0)
m3.setMotorSpeed(0)
m4.setMotorSpeed(0)
m5.setMotorSpeed(0)
m6.setMotorSpeed(0)

2
escapeservotest.py
View File

@@ -1,5 +1,5 @@
import time import time
from dwescapeHAT import dw_PWMCONTROL, dw_PWM from darkwater_640.darkwater_640 import dw_Controller, dw_Servo, dw_Motor
dw = dw_PWMCONTROL( addr=0x61 ) dw = dw_PWMCONTROL( addr=0x61 )
s = dw.getSERVO(1) s = dw.getSERVO(1)