h-bridge_micropython.py

import time
from network import WLAN
from machine import Pin, PWM
from umqtt.simple import MQTTClient
from ubinascii import hexlify
import sys

CLIENT_ID = "smashing-sub"

MQTT_SERVER = "192.168.1.10"

# Mettre a None si pas utile
MQTT_USER = None
MQTT_PSWD = None

cycle_start = 480
cycle_end = 1023
waiting_time = 0.01
time_out = 10

rpin_en = Pin(14, Pin.OUT)
lpin_en = Pin(12, Pin.OUT)
rpin_pwm = Pin(13, Pin.OUT)
lpin_pwm = Pin(15, Pin.OUT)

freq = 150

def activer(freq=100):
    rpin_en.on()
    lpin_en.on()
    lpwm = PWM(lpin_pwm)
    rpwm = PWM(rpin_pwm)
    rpwm.freq(freq)
    lpwm.freq(freq)
    print("motor ready")
    return rpwm, lpwm


def release():
    rpin_en.off()
    lpin_en.off()
    time.sleep(0.5)
    rpin_en.on()
    lpin_en.on()


def stop():
    rpwm.deinit()
    lpwm.deinit()


def avancer(rpwm):
    print("avancer")
    for d in range(cycle_start, cycle_end):
        rpwm.freq(freq)
        rpwm.duty(d)
        print(str(d))
        time.sleep(waiting_time)
    while time.time() - start_time < time_out:
        rpwm.duty(cycle_end)
        time.sleep(waiting_time)
    time.sleep(1)


def reculer(lpwm):
    print("reculer")
    for d in range(cycle_start, cycle_end):
        lpwm.freq(freq)
        lpwm.duty(d)
        print(str(d))
        time.sleep(waiting_time)
    while time.time() - start_time < time_out:
        lpwm.duty(cycle_end)
        time.sleep(waiting_time)
    time.sleep(1)


rpwm, lpwm = activer()
start_time = time.time()
avancer(rpwm)


reculer(lpwm)
# stop()


def sub_cb(topic, msg):
    """ fonction de rappel pour souscription MQTT """
    t = topic.decode('utf8')
    m = msg.decode('utf8')
    print('-'*20)
    print('topic: %s' % t)
    print('message: %s' % m)

    if t == 'sy/smash':
        print("changement etat ")
        # LED en logique inversée
        if m == "avancer":
            start_time = time.time()
            avancer(rpwm)
            release()
        elif m == "reculer":
            start_time = time.time()
            reculer(lpwm)
            release()


try:
    print("Creation MQTTClient")
    q = MQTTClient(client_id=CLIENT_ID, server=MQTT_SERVER, user=MQTT_USER, password=MQTT_PSWD)
    q.set_callback(sub_cb)

    if q.connect() != 0:
        print("erreur connexion")
        sys.exit()

    print("Connected")

    q.subscribe('sy/smash')

    print("souscription OK")

except Exception as e:
    print(e)

# annonce connexion objet
try:
    sMac = hexlify(WLAN().config('mac')).decode()
    q.publish("sy/connect/%s" % CLIENT_ID, sMac)
except Exception as e:
    print(e)

# Boucle de traitement
while True:
    # traitement message MQTT (BLOQUANT)
    q.wait_msg()

    # traitment message MQTT (NON BLOQUANT)
    # q.check_msg()

q.disconnect()