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MoveCarNoPWM.py
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MoveCarNoPWM.py
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import RPi.GPIO as GPIO
import time
class MoveCar():
def __init__(self):
self.control=''
#right wheels
self.right_enable = 33
self.right_input_1 = 13
self.right_input_2 = 11
#left wheels
self.left_enable = 32
self.left_input_1 = 16
self.left_input_2 = 18
def initialize(self):
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
#right wheels
GPIO.setup(self.right_enable, GPIO.OUT)
GPIO.setup(self.right_input_1, GPIO.OUT)
GPIO.setup(self.right_input_2, GPIO.OUT)
#left wheels
GPIO.setup(self.left_enable, GPIO.OUT)
GPIO.setup(self.left_input_1, GPIO.OUT)
GPIO.setup(self.left_input_2 ,GPIO.OUT)
# self.p1 = GPIO.PWM(self.right_enable, 20) # Created a PWM object
# self.p2 = GPIO.PWM(self.left_enable, 20)
# self.p1.start(0)
# self.p2.start(0)
def move_forward(self):
self.control='f'
#right wheels
GPIO.output(self.right_enable , GPIO.HIGH)
#self.p1.ChangeDutyCycle(100)
GPIO.output(self.right_input_1 , GPIO.LOW)
GPIO.output(self.right_input_2 , GPIO.HIGH)
#left wheels
GPIO.output(self.left_enable , GPIO.HIGH)
#self.p2.ChangeDutyCycle(100)
GPIO.output(self.left_input_1 , GPIO.LOW)
GPIO.output(self.left_input_2 , GPIO.HIGH)
def move_backward(self):
self.control='b'
#right wheels
GPIO.output(self.right_enable , GPIO.HIGH)
#self.p1.ChangeDutyCycle(100)
GPIO.output(self.right_input_1 , GPIO.HIGH)
GPIO.output(self.right_input_2 , GPIO.LOW)
#left wheels
GPIO.output(self.left_enable , GPIO.HIGH)
#self.p2.ChangeDutyCycle(100)
GPIO.output(self.left_input_1 , GPIO.HIGH)
GPIO.output(self.left_input_2 , GPIO.LOW)
def move_left(self):
#right wheels
GPIO.output(self.right_enable , GPIO.HIGH)
#self.p1.ChangeDutyCycle(100)
GPIO.output(self.right_input_1 , GPIO.LOW)
GPIO.output(self.right_input_2 , GPIO.HIGH)
#left wheels
GPIO.output(self.left_enable , GPIO.LOW)
#self.p2.ChangeDutyCycle(15)
GPIO.output(self.left_input_1 , GPIO.LOW)
GPIO.output(self.left_input_2 , GPIO.HIGH)
def move_right(self):
#right wheels
GPIO.output(self.right_enable , GPIO.LOW)
#self.p1.ChangeDutyCycle(15)
GPIO.output(self.right_input_1 , GPIO.LOW)
GPIO.output(self.right_input_2 , GPIO.HIGH)
#left wheels
GPIO.output(self.left_enable , GPIO.HIGH)
#self.p2.ChangeDutyCycle(100)
GPIO.output(self.left_input_1 , GPIO.LOW)
GPIO.output(self.left_input_2 , GPIO.HIGH)
def stop_car(self):
self.control=''
#right wheels
#GPIO.output(self.right_enable , GPIO.LOW)
self.p1.ChangeDutyCycle(0)
GPIO.output(self.right_input_1 , GPIO.LOW)
GPIO.output(self.right_input_2 , GPIO.LOW)
#left wheels
#GPIO.output(self.left_enable , GPIO.LOW)
self.p2.ChangeDutyCycle(0)
GPIO.output(self.left_input_1 , GPIO.LOW)
GPIO.output(self.left_input_2 , GPIO.LOW)
def brake(self):
if(self.control==''):
pass
elif(self.control=='f'):
print( "Applying brake.")
self.move_backward()
time.sleep(self.runtime)
self.stop_car()
self.control=''
elif(self.control=='b'):
print ("Applying brake.")
self.move_forward()
time.sleep(self.runtime)
self.stop_car()
self.control=''
else:
pass
def close(self):
GPIO.cleanup()
if __name__ == '__main__':
time.sleep(2)
car = MoveCar()
car.initialize()
car.move_forward()
time.sleep(2)
car.move_backward()
time.sleep(3)
car.move_right()
time.sleep(3)
car.move_left()
time.sleep(3)
#car.brake()
car.stop_car()
car.close()