compAIR/compLIB
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Change IR Sensor, fix motor direction

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This commit is contained in:
Konstantin Lampalzer 2021-01-23 11:55:56 +00:00
parent 77c2354c00
commit a544133e92
2 changed files with 28 additions and 11 deletions
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33
compLib/IRSensor.py
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@ -1,4 +1,4 @@
import RPi.GPIO as GPIO import pigpio
from compLib.ADC import ADC from compLib.ADC import ADC
from compLib.LogstashLogging import Logging from compLib.LogstashLogging import Logging
@ -15,12 +15,26 @@ BOTTOM_RIGHT_PIN = 23
adc = ADC() adc = ADC()
GPIO.setmode(GPIO.BCM) # GPIO.setmode(GPIO.BCM)
GPIO.setup(BOTTOM_LEFT_PIN, GPIO.IN) GPIO = pigpio.pi()
GPIO.setup(BOTTOM_MIDDLE_PIN, GPIO.IN)
GPIO.setup(BOTTOM_RIGHT_PIN, GPIO.IN)
GPIO.set_mode(BOTTOM_LEFT_PIN, pigpio.INPUT)
GPIO.set_mode(BOTTOM_MIDDLE_PIN, pigpio.INPUT)
GPIO.set_mode(BOTTOM_RIGHT_PIN, pigpio.INPUT)
states = {
str(BOTTOM_LEFT_PIN): 0,
str(BOTTOM_MIDDLE_PIN): 0,
str(BOTTOM_RIGHT_PIN): 0}
def gpio_callback(gpio, level, tick):
states[str(gpio)] = level
# print(gpio, level, tick)
GPIO.callback(BOTTOM_LEFT_PIN, pigpio.EITHER_EDGE, gpio_callback)
GPIO.callback(BOTTOM_MIDDLE_PIN, pigpio.EITHER_EDGE, gpio_callback)
GPIO.callback(BOTTOM_RIGHT_PIN, pigpio.EITHER_EDGE, gpio_callback)
class IRSensor(object): class IRSensor(object):
"""Access the different IR Sensors at top / bottom of the robot """Access the different IR Sensors at top / bottom of the robot
@ -53,7 +67,8 @@ class IRSensor(object):
:return: True, if sensor detects IR signals :return: True, if sensor detects IR signals
:rtype: bool :rtype: bool
""" """
return GPIO.input(BOTTOM_LEFT_PIN) return states[str(BOTTOM_LEFT_PIN)]
# return GPIO.read(BOTTOM_LEFT_PIN)
@staticmethod @staticmethod
def bottom_middle() -> bool: def bottom_middle() -> bool:
@ -62,7 +77,8 @@ class IRSensor(object):
:return: True, if sensor detects IR signals :return: True, if sensor detects IR signals
:rtype: bool :rtype: bool
""" """
return GPIO.input(BOTTOM_MIDDLE_PIN) return states[str(BOTTOM_MIDDLE_PIN)]
# return GPIO.read(BOTTOM_MIDDLE_PIN)
@staticmethod @staticmethod
def bottom_right() -> bool: def bottom_right() -> bool:
@ -71,4 +87,5 @@ class IRSensor(object):
:return: True, if sensor detects IR signals :return: True, if sensor detects IR signals
:rtype: bool :rtype: bool
""" """
return GPIO.input(BOTTOM_RIGHT_PIN) return states[str(BOTTOM_RIGHT_PIN)]
# return GPIO.read(BOTTOM_RIGHT_PIN)

6
compLib/Motor.py
View file

@ -39,11 +39,11 @@ class Motor(object):
adjusted_speed = int(min(max(0, percent), 100) * MOTOR_PERCENTAGE_MULT) adjusted_speed = int(min(max(0, percent), 100) * MOTOR_PERCENTAGE_MULT)
if forward: if forward:
pwm.setMotorPwm(port * 2, 0)
pwm.setMotorPwm(port * 2 + 1, adjusted_speed)
else:
pwm.setMotorPwm(port * 2, adjusted_speed) pwm.setMotorPwm(port * 2, adjusted_speed)
pwm.setMotorPwm(port * 2 + 1, 0) pwm.setMotorPwm(port * 2 + 1, 0)
else:
pwm.setMotorPwm(port * 2, 0)
pwm.setMotorPwm(port * 2 + 1, adjusted_speed)
@staticmethod @staticmethod
def all_off(): def all_off():