robot

#!/usr/bin/python
# -- must be run as root
import time

# put Port 8 Pin 3 into mode 7 (GPIO)
open('/sys/kernel/debug/omap_mux/gpmc_ad6', 'wb').write("%X" % 7)
# put Port 8 Pin 4 into mode 7 (GPIO)
open('/sys/kernel/debug/omap_mux/gpmc_ad7', 'wb').write("%X" % 7)
# Port 9 pin Pin 14 (EHRPWM1A)
open('/sys/kernel/debug/omap_mux/gpmc_a2', 'wb').write("%X" % 6)
# Port 9 pin Pin 16 (EHRPWM1B)
open('/sys/kernel/debug/omap_mux/gpmc_a3', 'wb').write("%X" % 6)

    
try: 
    # check to see if the pin is already exported
    open('/sys/class/gpio/gpio38/direction').read()
except:    
    # it isn't, so export it
    print("exporting GPIO 38")
    open('/sys/class/gpio/export', 'w').write('38')


try: 
    # check to see if the pin is already exported
    open('/sys/class/gpio/gpio39/direction').read()
except:    
    # it isn't, so export it
    print("exporting GPIO 39")
    open('/sys/class/gpio/export', 'w').write('39')


#config PWM
open('/sys/class/pwm/ehrpwm.1:0/period_ns', 'w').write('2000000')
open('/sys/class/pwm/ehrpwm.1:0/duty_ns', 'w').write('1500000')

#config PWM
open('/sys/class/pwm/ehrpwm.1:1/period_ns', 'w').write('2000000')
open('/sys/class/pwm/ehrpwm.1:1/duty_ns', 'w').write('1500000')

open('/sys/class/pwm/ehrpwm.1:0/run', 'w').write('1')
open('/sys/class/pwm/ehrpwm.1:1/run', 'w').write('1')
    
# set Port 8 Pin 3 for output    
open('/sys/class/gpio/gpio38/direction', 'w').write('out')
# set Port 8 Pin 4 for output    
open('/sys/class/gpio/gpio39/direction', 'w').write('out')
    
for i in range(10):
    time.sleep(3)
    open('/sys/class/gpio/gpio38/value', 'w').write("1")
    open('/sys/class/gpio/gpio39/value', 'w').write("1")

    time.sleep(3)
    open('/sys/class/gpio/gpio38/value', 'w').write("0")
    open('/sys/class/gpio/gpio39/value', 'w').write("0")
    
open('/sys/class/pwm/ehrpwm.1:0/run', 'w').write('0')        
open('/sys/class/pwm/ehrpwm.1:1/run', 'w').write('0')   
# cleanup - remove GPIO38 folder from file system
open('/sys/class/gpio/unexport', 'w').write('38')
open('/sys/class/gpio/unexport', 'w').write('39')