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md.py
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md.py
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import RPi.GPIO as GPIO
import time
import pins
# high cw low zacw
def B(speed):
GPIO.output(pins.DIR1, GPIO.LOW) # S
GPIO.output(pins.DIR2, GPIO.LOW) # C
GPIO.output(pins.DIR3, GPIO.HIGH) # AC
pins.SPD1.ChangeDutyCycle(speed)
pins.SPD2.ChangeDutyCycle(speed)
pins.SPD3.ChangeDutyCycle(0)
def F(speed):
GPIO.output(pins.DIR1, GPIO.HIGH) # S
GPIO.output(pins.DIR2, GPIO.HIGH) # C
GPIO.output(pins.DIR3, GPIO.LOW) # AC
pins.SPD1.ChangeDutyCycle(speed)
pins.SPD2.ChangeDutyCycle(speed)
pins.SPD3.ChangeDutyCycle(0)
def L(speed):
GPIO.output(pins.DIR1, GPIO.HIGH) # AC
GPIO.output(pins.DIR2, GPIO.LOW) # C
GPIO.output(pins.DIR3, GPIO.HIGH) # C
pins.SPD1.ChangeDutyCycle(speed/2)
pins.SPD2.ChangeDutyCycle(speed/2)
pins.SPD3.ChangeDutyCycle(speed)
def R(speed):
GPIO.output(pins.DIR1, GPIO.LOW) # AC
GPIO.output(pins.DIR2, GPIO.HIGH) # C
GPIO.output(pins.DIR3, GPIO.LOW) # C
pins.SPD1.ChangeDutyCycle(speed/2)
pins.SPD2.ChangeDutyCycle(speed/2)
pins.SPD3.ChangeDutyCycle(speed)
def FL(speed):
GPIO.output(pins.DIR1, GPIO.HIGH) # C
GPIO.output(pins.DIR2, GPIO.LOW) # Stop
GPIO.output(pins.DIR3, GPIO.HIGH) # AC
pins.SPD1.ChangeDutyCycle(speed)
pins.SPD2.ChangeDutyCycle(0)
pins.SPD3.ChangeDutyCycle(speed)
def BR(speed):
GPIO.output(pins.DIR1, GPIO.LOW) # C
GPIO.output(pins.DIR2, GPIO.HIGH) # Stop
GPIO.output(pins.DIR3, GPIO.LOW) # AC
pins.SPD1.ChangeDutyCycle(speed)
pins.SPD2.ChangeDutyCycle(0)
pins.SPD3.ChangeDutyCycle(speed)
def FR(speed):
GPIO.output(pins.DIR1, GPIO.HIGH) # AC
GPIO.output(pins.DIR2, GPIO.HIGH) # C
GPIO.output(pins.DIR3, GPIO.LOW) # Stop
pins.SPD1.ChangeDutyCycle(0)
pins.SPD2.ChangeDutyCycle(speed)
pins.SPD3.ChangeDutyCycle(speed)
def BL(speed):
GPIO.output(pins.DIR1, GPIO.LOW) # AC
GPIO.output(pins.DIR2, GPIO.LOW) # C
GPIO.output(pins.DIR3, GPIO.HIGH) # Stop
pins.SPD1.ChangeDutyCycle(0)
pins.SPD2.ChangeDutyCycle(speed)
pins.SPD3.ChangeDutyCycle(speed)
def SL(speed):
GPIO.output(pins.DIR1, GPIO.HIGH) # C
GPIO.output(pins.DIR2, GPIO.LOW) # C
GPIO.output(pins.DIR3, GPIO.LOW) # C
pins.SPD1.ChangeDutyCycle(speed)
pins.SPD2.ChangeDutyCycle(speed)
pins.SPD3.ChangeDutyCycle(speed)
def SR(speed):
GPIO.output(pins.DIR1, GPIO.LOW) # AC
GPIO.output(pins.DIR2, GPIO.HIGH) # AC
GPIO.output(pins.DIR3, GPIO.HIGH) # AC
pins.SPD1.ChangeDutyCycle(speed)
pins.SPD2.ChangeDutyCycle(speed)
pins.SPD3.ChangeDutyCycle(speed)
def BALLR(speed):
GPIO.output(pins.DIRB, GPIO.HIGH if speed > 0 else GPIO.LOW)
pins.SPDB.ChangeDutyCycle(30)
def STOP():
GPIO.output(pins.DIR1, GPIO.HIGH) # AC
GPIO.output(pins.DIR2, GPIO.HIGH) # AC
GPIO.output(pins.DIR3, GPIO.HIGH) # AC
GPIO.output(pins.DIRB, GPIO.HIGH) # AC
pins.SPD1.ChangeDutyCycle(0)
pins.SPD2.ChangeDutyCycle(0)
pins.SPD3.ChangeDutyCycle(0)
pins.SPDB.ChangeDutyCycle(0)
def THROW(speed):
GPIO.output(pins.THRL, GPIO.LOW) # AC
GPIO.output(pins.THRR, GPIO.LOW) # AC
pins.THSPDL.ChangeDutyCycle(speed)
pins.THSPDR.ChangeDutyCycle(speed/2)