Control MDDS30 In Serial Simplified Mode Using Raspberry Pi

RPiMDDS30SerialSimplified.py

from gpiozero import LED, Button, Buzzer
from time import sleep
import serial

led1 = LED(17)
led2 = LED(18)
sw1 = Button(21)
sw2 = Button(16)
sw3 = Button(20)
buzzer = Buzzer(26)

serialPort = serial.Serial("/dev/ttyUSB0", 9600, timeout=0.5)

def sw1Pressed():
    global speed
    global currentSpeed
    global motorLeft
    global motorRight
    global motorDirection
    
    if speed < 63:
        speed = speed + 5
        currentSpeed = currentSpeed + 5
        if speed == 65:
            speed = speed - 2
            currentSpeed = currentSpeed - 2
            
        motorLeft = currentSpeed
        motorRight = currentSpeed | 128
        
        if speed == 63:
            led1.on()
            buzzer.beep(0.1, 0.1, 2)
    
def sw2Pressed():
    global speed
    global currentSpeed
    global motorLeft
    global motorRight
    global motorDirection
    
    if speed > 0:
        if speed == 63:
            speed = speed - 3
            currentSpeed = currentSpeed - 3
        else:
            speed = speed - 5
            currentSpeed = currentSpeed - 5
            
        motorLeft = currentSpeed
        motorRight = currentSpeed | 128
        
        if speed == 0:
            led1.off()
            buzzer.beep(0.1, 0.1, 2)

def sw3Pressed():
    global speed
    global currentSpeed
    global motorLeft
    global motorRight
    global motorDirection
    
    if speed != 0:
        led2.toggle()
        buzzer.beep(0.1, 0.1, 1)
        
        motorDirection = not motorDirection
    
        if motorDirection == False:
            motorLeft = motorLeft & 191
            motorRight = motorRight & 191
        else:
            motorLeft = motorLeft | 64
            motorRight = motorRight | 64
        
        currentSpeed = motorLeft

sw1.when_pressed = sw1Pressed
sw2.when_pressed = sw2Pressed
sw3.when_pressed = sw3Pressed

packet = bytearray()
speed = 0
currentSpeed = 0
previousSpeed = 0
motorLeft = 0
motorRight = 0
motorDirection = False

try:
    while True:
        if currentSpeed != previousSpeed:
            print("Motor Speed: {}, Left: {}, Right: {}".format(speed, motorLeft, motorRight))
            previousSpeed = currentSpeed
            
            packet.append(motorLeft)
            packet.append(motorRight)
            serialPort.write(packet)
            packet.clear()

except KeyboardInterrupt:
    led1.off()
    led2.off()
    buzzer.off()