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Explains terms and function uses in Alphabot Class (AlphaBot2.py)
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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
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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