Commit 29212783 authored by Aadil M. Alli's avatar Aadil M. Alli

Upload New File

parent 732d076b
import RPi.GPIO as GPIO
import time
class AlphaBot2(object):
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
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(self.AIN1,GPIO.OUT)
GPIO.setup(self.AIN2,GPIO.OUT)
GPIO.setup(self.BIN1,GPIO.OUT)
GPIO.setup(self.BIN2,GPIO.OUT)
GPIO.setup(self.ENA,GPIO.OUT)
GPIO.setup(self.ENB,GPIO.OUT)
self.PWMA = GPIO.PWM(self.ENA,500)
self.PWMB = GPIO.PWM(self.ENB,500)
self.PWMA.start(self.PA)
self.PWMB.start(self.PB)
self.stop()
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)
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)
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)
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)
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)
def setPWMA(self,value):
self.PA = value
self.PWMA.ChangeDutyCycle(self.PA)
def setPWMB(self,value):
self.PB = value
self.PWMB.ChangeDutyCycle(self.PB)
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)
if __name__=='__main__':
Ab = AlphaBot2()
Ab.forward()
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
GPIO.cleanup()
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