Controlling mobile robot by using Blynk Joystick widget, Maker Drive, Raspberry Pi Zero WH, Maker pHAT.

BlynkJoystickMakerDrive.py

from gpiozero import LED, Button, Buzzer
import pigpio
import BlynkLib
from time import sleep

pi = pigpio.pi()

BLYNK_AUTH = '923ae9c3e88e45a5a1ec139dbcde9f32'

# Initialize Blynk
blynk = BlynkLib.Blynk(BLYNK_AUTH)

sw1 = Button(21)
sw2 = Button(16)
sw3 = Button(20)
buzzer = Buzzer(26)

M1A = 17
M1B = 18
M2A = 27
M2B = 22

pi.set_mode(M1A, pigpio.OUTPUT)
pi.set_mode(M1B, pigpio.OUTPUT)
pi.set_mode(M2A, pigpio.OUTPUT)
pi.set_mode(M2B, pigpio.OUTPUT)

def valueMap(x, in_min, in_max, out_min, out_max):
    return int((x-in_min) * (out_max-out_min) / (in_max-in_min) + out_min)

# Register Virtual Pins
@blynk.VIRTUAL_WRITE(0)
def v0_write_handler(value):
    valueX = int(format(value[0]))
    valueY = int(format(value[1]))

    valueXMap = valueMap(valueX, 0, 255, -255, 255)
    valueYMap = valueMap(valueY, 0, 255, -255, 255)

    pwmLeft = valueYMap + valueXMap
    if pwmLeft > 255:
        pwmLeft = 255
    elif pwmLeft < -255:
        pwmLeft = -255
    
    pwmRight = valueYMap - valueXMap
    if pwmRight > 255:
        pwmRight = 255
    elif pwmRight < -255:
        pwmRight = -255

    motorSpeed(pwmLeft, pwmRight)
    
    #print('Motor Left: {}'.format(pwmLeft))
    #print('Motor Right: {}'.format(pwmRight))

def motorSpeed(speedLeft, speedRight):
    if speedLeft > 0:
        pi.set_PWM_dutycycle(M2A, speedLeft)
        pi.set_PWM_dutycycle(M2B, 0)
    else:
        pi.set_PWM_dutycycle(M2A, 0)
        pi.set_PWM_dutycycle(M2B, abs(speedLeft))

    if speedRight > 0:
        pi.set_PWM_dutycycle(M1A, speedRight)
        pi.set_PWM_dutycycle(M1B, 0)
    else:
        pi.set_PWM_dutycycle(M1A, 0)
        pi.set_PWM_dutycycle(M1B, abs(speedRight))

motorSpeed(0, 0)
buzzer.beep(0.1, 0.1, 1)

try:
    while True:
        blynk.run()

except KeyboardInterrupt:
    motorSpeed(0, 0)