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import RPi.GPIO as GPIO
LEFT_MOTOR_EN = 0
RIGHT_MOTOR_EN = 1
LEFT_MOTOR_LPWM = 3
LEFT_MOTOR_RPWM = 4
RIGHT_MOTOR_LPWM = 5
RIGHT_MOTOR_RPWM = 6
class driver:
LM_LPWM = GPIO.PWM(LEFT_MOTOR_LPWM, 8000)
LM_RPWM = GPIO.PWM(LEFT_MOTOR_RPWM, 8000)
RM_LPWM = GPIO.PWM(RIGHT_MOTOR_LPWM, 8000)
RM_RPWM = GPIO.PWM(RIGHT_MOTOR_RPWM, 8000)
def setupMotors(self):
GPIO.setup(LEFT_MOTOR_EN, GPIO.OUT)
GPIO.setup(RIGHT_MOTOR_EN, GPIO.OUT)
GPIO.setup(LEFT_MOTOR_LPWM, GPIO.OUT)
GPIO.setup(LEFT_MOTOR_RPWM, GPIO.OUT)
self.LM_LPWM.start(0)
self.LM_RPWM.start(0)
GPIO.setup(RIGHT_MOTOR_LPWM, GPIO.OUT)
GPIO.setup(RIGHT_MOTOR_RPWM, GPIO.OUT)
self.RM_LPWM.start(0)
self.RM_RPWM.start(0)
def enableMotors() :
GPIO.output(LEFT_MOTOR_EN, GPIO.HIGH)
GPIO.output(RIGHT_MOTOR_EN, GPIO.HIGH)
def disableMotors() :
GPIO.output(LEFT_MOTOR_EN, GPIO.LOW)
GPIO.output(RIGHT_MOTOR_EN, GPIO.LOW)
#input range 0.0-1.0; 0.5 = no forward no reverse
def writeLeftPWM(self, dutycycle) :
if dutycycle > 0.5 :
self.LM_LPWM.ChangeDutyCycle(0)
self.LM_RPWM.ChangeDutyCycle((dutycycle - 0.5)*100)
elif dutycycle < 0.5 :
self.LM_LPWM.ChangeDutyCycle((dutycycle - 0.5)*100)
self.LM_RPWM.ChangeDutyCycle(0)
else :
self.LM_LPWM.ChangeDutyCycle(0)
self.LM_RPWM.ChangeDutyCycle(0)
#input range 0.0-1.0; 0.5 = no forward no reverse
def writeRightPWM(self, dutycycle) :
if dutycycle > 0.5 :
self.RM_LPWM.ChangeDutyCycle(0)
self.RM_RPWM.ChangeDutyCycle((dutycycle - 0.5)*100)
elif dutycycle < 0.5 :
self.RM_LPWM.ChangeDutyCycle((dutycycle - 0.5)*100)
self.RM_RPWM.ChangeDutyCycle(0)
else :
self.RM_LPWM.ChangeDutyCycle(0)
self.RM_RPWM.ChangeDutyCycle(0)