Guide_Explained 3.34 KB
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Explains terms and function uses in Alphabot Class

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def __init__(self,ain1=20,ain2=21,ena=6,bin1=12,bin2=13,enb=26):
		self.AIN1 = ain1
		self.AIN2 = ain2
		self.BIN1 = bin1
		self.BIN2 = bin2
		self.ENA = ena
		self.ENB = enb
		self.PA  = 15
		self.PB  = 15


self.PA  = 15
self.PB  = 15
Sets default value of speed to 15
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Calibrates individual parts of robot
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def forward(self):
		self.PWMA.ChangeDutyCycle(self.PA)
		self.PWMB.ChangeDutyCycle(self.PB)
		GPIO.output(self.AIN1,GPIO.LOW)
		GPIO.output(self.AIN2,GPIO.HIGH)
		GPIO.output(self.BIN1,GPIO.LOW)
		GPIO.output(self.BIN2,GPIO.HIGH)

forward()
Robot moves forward at default speed when called

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def stop(self):
		self.PWMA.ChangeDutyCycle(0)
		self.PWMB.ChangeDutyCycle(0)
		GPIO.output(self.AIN1,GPIO.LOW)
		GPIO.output(self.AIN2,GPIO.LOW)
		GPIO.output(self.BIN1,GPIO.LOW)
		GPIO.output(self.BIN2,GPIO.LOW)

stop()
Stops robot when called

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def backward(self):
		self.PWMA.ChangeDutyCycle(self.PA)
		self.PWMB.ChangeDutyCycle(self.PB)
		GPIO.output(self.AIN1,GPIO.HIGH)
		GPIO.output(self.AIN2,GPIO.LOW)
		GPIO.output(self.BIN1,GPIO.HIGH)
		GPIO.output(self.BIN2,GPIO.LOW)

backward()
Robot moves backward at default speed when called

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def left(self):
		self.PWMA.ChangeDutyCycle(25)
		self.PWMB.ChangeDutyCycle(25)
		GPIO.output(self.AIN1,GPIO.HIGH)
		GPIO.output(self.AIN2,GPIO.LOW)
		GPIO.output(self.BIN1,GPIO.LOW)
		GPIO.output(self.BIN2,GPIO.HIGH)

left()
Robot turns left when called

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def right(self):
		self.PWMA.ChangeDutyCycle(25)
		self.PWMB.ChangeDutyCycle(25)
		GPIO.output(self.AIN1,GPIO.LOW)
		GPIO.output(self.AIN2,GPIO.HIGH)
		GPIO.output(self.BIN1,GPIO.HIGH)
		GPIO.output(self.BIN2,GPIO.LOW)

right()
Robot turns right when called

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def setPWMA(self,value):
		self.PA = value
		self.PWMA.ChangeDutyCycle(self.PA)

Sets all speeds on A to value (int)

setPWMA(15)
Sets all speeds on A to 15

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def setPWMB(self,value):
		self.PB = value
		self.PWMB.ChangeDutyCycle(self.PB)	

Sets all speeds on B to value (int)

setPWMB(15)
Sets all speeds on B to 15

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def setMotor(self, left, right):

		if((right >= 0) and (right <= 100)):
			GPIO.output(self.AIN1,GPIO.HIGH)
			GPIO.output(self.AIN2,GPIO.LOW)
			self.PWMA.ChangeDutyCycle(right)
		elif((right < 0) and (right >= -100)):
			GPIO.output(self.AIN1,GPIO.LOW)
			GPIO.output(self.AIN2,GPIO.HIGH)
			self.PWMA.ChangeDutyCycle(0 - right)
		if((left >= 0) and (left <= 100)):
			GPIO.output(self.BIN1,GPIO.HIGH)
			GPIO.output(self.BIN2,GPIO.LOW)
			self.PWMB.ChangeDutyCycle(left)
		elif((left < 0) and (left >= -100)):
			GPIO.output(self.BIN1,GPIO.LOW)
			GPIO.output(self.BIN2,GPIO.HIGH)
			self.PWMB.ChangeDutyCycle(0 - left)

Sets given values to left and right motors (int)

setMotor(15, 20)
Sets 15 to left motor and 20 to right motor

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