Created
December 21, 2019 06:52
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import RPi.GPIO as GPIO | |
channels = [ | |
{'label': 'LEFT_MOTOR_POWER', 'pin': 11}, | |
{'label': 'LEFT_MOTOR_FORWARD', 'pin': 13}, | |
{'label': 'LEFT_MOTOR_BACKWARD', 'pin': 15}, | |
{'label': 'RIGHT_MOTOR_POWER', 'pin': 23}, | |
{'label': 'RIGHT_MOTOR_FORWARD', 'pin': 21}, | |
{'label': 'RIGHT_MOTOR_BACKWARD', 'pin': 19}, | |
] | |
class Car: | |
def __init__(self, channels=channels): | |
GPIO.setmode(GPIO.BOARD) | |
GPIO.setup([i['pin'] for i in channels], GPIO.OUT, initial=GPIO.LOW) | |
self.channels = channels | |
self.state = [False for i in channels] | |
def reset(self): | |
self.state = [False for i in channels] | |
def getIndexFromLabel(self, label): | |
for i, channel in enumerate(self.channels): | |
if channel['label'] == label: | |
return i | |
return None | |
def commit(self): | |
GPIO.output([i['pin'] for i in channels], self.state) | |
def enableByLabel(self, labels): | |
for label in labels: | |
self.state[self.getIndexFromLabel(label)] = True | |
def forward(self): | |
self.reset() | |
self.enableByLabel([ | |
'LEFT_MOTOR_POWER', | |
'LEFT_MOTOR_FORWARD', | |
'RIGHT_MOTOR_POWER', | |
'RIGHT_MOTOR_FORWARD', | |
]) | |
self.commit() | |
def backward(self): | |
self.reset() | |
self.enableByLabel([ | |
'LEFT_MOTOR_POWER', | |
'LEFT_MOTOR_BACKWARD', | |
'RIGHT_MOTOR_POWER', | |
'RIGHT_MOTOR_BACKWARD', | |
]) | |
self.commit() | |
def back(self): | |
self.backward() | |
def right(self): | |
self.reset() | |
self.enableByLabel([ | |
'LEFT_MOTOR_POWER', | |
# 'LEFT_MOTOR_FORWARD', | |
'RIGHT_MOTOR_POWER', | |
'RIGHT_MOTOR_BACKWARD', | |
]) | |
self.commit() | |
def left(self): | |
self.reset() | |
self.enableByLabel([ | |
'LEFT_MOTOR_POWER', | |
'LEFT_MOTOR_BACKWARD', | |
'RIGHT_MOTOR_POWER', | |
# 'RIGHT_MOTOR_FORWARD', | |
]) | |
self.commit() | |
def stop(self): | |
self.reset() | |
self.commit() | |
def cease(self): | |
self.stop() | |
def close(self): | |
GPIO.cleanup() |
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