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Updated to new API

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shrkey
2016-02-29 21:23:43 +00:00
parent d63de35580
commit 8e9461e4f8
1 changed files with 13 additions and 96 deletions
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109
640test.py
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@@ -1,104 +1,21 @@
import RPi.GPIO as GPIO
import time
from Adafruit_PWM_Servo_Driver import PWM
from dw640HAT import dw_MotorCONTROL, dw_DCMotor
pwm = PWM( 0x60, debug=False)
pwm.setPWMFreq(1600)
dw = dw_MotorCONTROL( addr=0x60 )
m = dw.getMotor(1)
GPIO.setmode(GPIO.BCM)
GPIO.setup(17, GPIO.OUT)
# set mode to en/phase
GPIO.output(17, GPIO.HIGH)
m.run(dw_MotorCONTROL.RELEASE)
time.sleep(5)
in1 = 5
in2 = 4
in3 = 8
in4 = 9
in5 = 0
in6 = 1
in7 = 2
in8 = 3
in9 = 10
in10 = 11
in11 = 7
in12 = 6
# Test motor one
# phase is 8, enable = 9
pwm.setPWM(in1,0,0)
pwm.setPWM(in2,0,0)
pwm.setPWM(in3,0,0)
pwm.setPWM(in4,0,0)
pwm.setPWM(in5,0,0)
pwm.setPWM(in6,0,0)
pwm.setPWM(in7,0,0)
pwm.setPWM(in8,0,0)
pwm.setPWM(in9,0,0)
pwm.setPWM(in10,0,0)
pwm.setPWM(in11,0,0)
pwm.setPWM(in12,0,0)
time.sleep(2)
##time.sleep(10)
print "Set forward"
pwm.setPWM(in1,0,0)
pwm.setPWM(in2,0,4095)
pwm.setPWM(in3,0,0)
pwm.setPWM(in4,0,4095)
pwm.setPWM(in5,0,0)
pwm.setPWM(in6,0,4095)
pwm.setPWM(in7,0,0)
pwm.setPWM(in8,0,4095)
pwm.setPWM(in9,0,0)
pwm.setPWM(in10,0,4095)
pwm.setPWM(in11,0,0)
pwm.setPWM(in12,0,4095)
time.sleep(2)
m.setMotorSpeed(255)
time.sleep(5)
print "stop"
pwm.setPWM(in1,0,0)
pwm.setPWM(in2,0,0)
pwm.setPWM(in3,0,0)
pwm.setPWM(in4,0,0)
pwm.setPWM(in5,0,0)
pwm.setPWM(in6,0,0)
pwm.setPWM(in7,0,0)
pwm.setPWM(in8,0,0)
pwm.setPWM(in9,0,0)
pwm.setPWM(in10,0,0)
pwm.setPWM(in11,0,0)
pwm.setPWM(in12,0,0)
time.sleep(2)
m.setMotorSpeed(0)
time.sleep(5)
print "Set reverse"
pwm.setPWM(in1,0,4095)
pwm.setPWM(in2,0,4095)
pwm.setPWM(in3,0,4095)
pwm.setPWM(in4,0,4095)
pwm.setPWM(in5,0,4095)
pwm.setPWM(in6,0,4095)
pwm.setPWM(in7,0,4095)
pwm.setPWM(in8,0,4095)
pwm.setPWM(in9,0,4095)
pwm.setPWM(in10,0,4095)
pwm.setPWM(in11,0,4095)
pwm.setPWM(in12,0,4095)
time.sleep(2)
m.setMotorSpeed(-255)
time.sleep(5)
print "stop"
pwm.setPWM(in1,0,0)
pwm.setPWM(in2,0,0)
pwm.setPWM(in3,0,0)
pwm.setPWM(in4,0,0)
pwm.setPWM(in5,0,0)
pwm.setPWM(in6,0,0)
pwm.setPWM(in7,0,0)
pwm.setPWM(in8,0,0)
pwm.setPWM(in9,0,0)
pwm.setPWM(in10,0,0)
pwm.setPWM(in11,0,0)
pwm.setPWM(in12,0,0)
# cleanup
GPIO.cleanup()
m.run(dw_MotorCONTROL.RELEASE)