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Alphabot2-Lab/AlphaBot2.py

+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()