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Alphabot2-Lab/0_Guide_Explained

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