add motor class
This commit is contained in:
Konstantin Lampalzer
parent
5942c13721
commit
b5a60438c0
16 changed files with 438 additions and 100 deletions
254
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<module fileurl="file://$PROJECT_DIR$/.idea/compLIB.iml" filepath="$PROJECT_DIR$/.idea/compLIB.iml" />
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128
compLIB/Motor.py
128
compLIB/Motor.py
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@ -1,107 +1,35 @@
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import time
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from PCA9685 import PCA9685
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from compLIB import *
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class Motor:
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def __init__(self):
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self.pwm = PCA9685(0x40, debug=True)
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self.pwm.setPWMFreq(50)
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class Motor(object):
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def duty_range(self, duty1, duty2, duty3, duty4):
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if duty1 > 4095:
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duty1 = 4095
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elif duty1 < -4095:
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duty1 = -4095
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@staticmethod
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def power(port: int, percent: int):
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"""
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Set specified motor to percentage power
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:param port: Port, which the motor is connected to. 0-3, 0 -> top left, 3 -> top right
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:param percent: Percentage of max speed. between -100 and 100
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:return: None
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"""
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forward = True
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if percent < 0:
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percent = abs(percent)
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forward = False
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if duty2 > 4095:
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duty2 = 4095
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elif duty2 < -4095:
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duty2 = -4095
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adjusted_speed = min(max(0, percent), 100) * MOTOR_PERCENTAGE_MULT
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if duty3 > 4095:
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duty3 = 4095
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elif duty3 < -4095:
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duty3 = -4095
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if duty4 > 4095:
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duty4 = 4095
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elif duty4 < -4095:
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duty4 = -4095
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return duty1, duty2, duty3, duty4
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def left_Upper_Wheel(self, duty):
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if duty > 0:
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self.pwm.setMotorPwm(0, 0)
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self.pwm.setMotorPwm(1, duty)
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elif duty < 0:
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self.pwm.setMotorPwm(1, 0)
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self.pwm.setMotorPwm(0, abs(duty))
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if forward:
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pwm.setMotorPwm(port * 2, 0)
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pwm.setMotorPwm(port * 2 + 1, adjusted_speed)
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else:
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self.pwm.setMotorPwm(0, 4095)
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self.pwm.setMotorPwm(1, 4095)
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pwm.setMotorPwm(port * 2, adjusted_speed)
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pwm.setMotorPwm(port * 2 + 1, 0)
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def left_Lower_Wheel(self, duty):
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if duty > 0:
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self.pwm.setMotorPwm(3, 0)
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self.pwm.setMotorPwm(2, duty)
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elif duty < 0:
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self.pwm.setMotorPwm(2, 0)
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self.pwm.setMotorPwm(3, abs(duty))
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else:
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self.pwm.setMotorPwm(2, 4095)
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self.pwm.setMotorPwm(3, 4095)
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def right_Upper_Wheel(self, duty):
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if duty > 0:
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self.pwm.setMotorPwm(6, 0)
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self.pwm.setMotorPwm(7, duty)
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elif duty < 0:
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self.pwm.setMotorPwm(7, 0)
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self.pwm.setMotorPwm(6, abs(duty))
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else:
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self.pwm.setMotorPwm(6, 4095)
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self.pwm.setMotorPwm(7, 4095)
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def right_Lower_Wheel(self, duty):
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if duty > 0:
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self.pwm.setMotorPwm(4, 0)
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self.pwm.setMotorPwm(5, duty)
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elif duty < 0:
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self.pwm.setMotorPwm(5, 0)
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self.pwm.setMotorPwm(4, abs(duty))
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else:
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self.pwm.setMotorPwm(4, 4095)
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self.pwm.setMotorPwm(5, 4095)
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def setMotorModel(self, duty1, duty2, duty3, duty4):
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duty1, duty2, duty3, duty4 = self.duty_range(duty1, duty2, duty3, duty4)
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self.left_Upper_Wheel(duty1)
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self.left_Lower_Wheel(duty2)
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self.right_Upper_Wheel(duty3)
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self.right_Lower_Wheel(duty4)
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PWM = Motor()
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def loop():
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PWM.setMotorModel(2000, 2000, 2000, 2000) # Forward
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time.sleep(3)
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PWM.setMotorModel(-2000, -2000, -2000, -2000) # Back
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time.sleep(3)
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PWM.setMotorModel(-500, -500, 2000, 2000) # Left
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time.sleep(3)
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PWM.setMotorModel(2000, 2000, -500, -500) # Right
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time.sleep(3)
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PWM.setMotorModel(0, 0, 0, 0) # Stop
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def destroy():
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PWM.setMotorModel(0, 0, 0, 0)
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if __name__ == '__main__':
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try:
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loop()
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except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program destroy() will be executed.
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destroy()
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@staticmethod
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def all_off():
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"""
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Turns of all motors
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:return:
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"""
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for i in range(0, MOTOR_COUNT):
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Motor.power(i, 0)
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__version__ = "0.0.1"
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pwm = PCA9685(0x40, debug=True)
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pwm.setPWMFreq(50)
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MOTOR_COUNT = 4
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MAX_MOTOR_SPEED = 4095.0
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MOTOR_PERCENTAGE_MULT = MAX_MOTOR_SPEED / 100.0
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107
oldLib/Motor.py
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oldLib/Motor.py
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import time
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from PCA9685 import PCA9685
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class Motor:
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def __init__(self):
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self.pwm = PCA9685(0x40, debug=True)
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self.pwm.setPWMFreq(50)
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def duty_range(self, duty1, duty2, duty3, duty4):
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if duty1 > 4095:
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duty1 = 4095
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elif duty1 < -4095:
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duty1 = -4095
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if duty2 > 4095:
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duty2 = 4095
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elif duty2 < -4095:
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duty2 = -4095
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if duty3 > 4095:
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duty3 = 4095
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elif duty3 < -4095:
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duty3 = -4095
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if duty4 > 4095:
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duty4 = 4095
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elif duty4 < -4095:
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duty4 = -4095
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return duty1, duty2, duty3, duty4
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def left_Upper_Wheel(self, duty):
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if duty > 0:
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self.pwm.setMotorPwm(0, 0)
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self.pwm.setMotorPwm(1, duty)
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elif duty < 0:
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self.pwm.setMotorPwm(1, 0)
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self.pwm.setMotorPwm(0, abs(duty))
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else:
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self.pwm.setMotorPwm(0, 4095)
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self.pwm.setMotorPwm(1, 4095)
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def left_Lower_Wheel(self, duty):
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if duty > 0:
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self.pwm.setMotorPwm(3, 0)
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self.pwm.setMotorPwm(2, duty)
|
||||
elif duty < 0:
|
||||
self.pwm.setMotorPwm(2, 0)
|
||||
self.pwm.setMotorPwm(3, abs(duty))
|
||||
else:
|
||||
self.pwm.setMotorPwm(2, 4095)
|
||||
self.pwm.setMotorPwm(3, 4095)
|
||||
|
||||
def right_Upper_Wheel(self, duty):
|
||||
if duty > 0:
|
||||
self.pwm.setMotorPwm(6, 0)
|
||||
self.pwm.setMotorPwm(7, duty)
|
||||
elif duty < 0:
|
||||
self.pwm.setMotorPwm(7, 0)
|
||||
self.pwm.setMotorPwm(6, abs(duty))
|
||||
else:
|
||||
self.pwm.setMotorPwm(6, 4095)
|
||||
self.pwm.setMotorPwm(7, 4095)
|
||||
|
||||
def right_Lower_Wheel(self, duty):
|
||||
if duty > 0:
|
||||
self.pwm.setMotorPwm(4, 0)
|
||||
self.pwm.setMotorPwm(5, duty)
|
||||
elif duty < 0:
|
||||
self.pwm.setMotorPwm(5, 0)
|
||||
self.pwm.setMotorPwm(4, abs(duty))
|
||||
else:
|
||||
self.pwm.setMotorPwm(4, 4095)
|
||||
self.pwm.setMotorPwm(5, 4095)
|
||||
|
||||
def setMotorModel(self, duty1, duty2, duty3, duty4):
|
||||
duty1, duty2, duty3, duty4 = self.duty_range(duty1, duty2, duty3, duty4)
|
||||
self.left_Upper_Wheel(duty1)
|
||||
self.left_Lower_Wheel(duty2)
|
||||
self.right_Upper_Wheel(duty3)
|
||||
self.right_Lower_Wheel(duty4)
|
||||
|
||||
|
||||
PWM = Motor()
|
||||
|
||||
|
||||
def loop():
|
||||
PWM.setMotorModel(2000, 2000, 2000, 2000) # Forward
|
||||
time.sleep(3)
|
||||
PWM.setMotorModel(-2000, -2000, -2000, -2000) # Back
|
||||
time.sleep(3)
|
||||
PWM.setMotorModel(-500, -500, 2000, 2000) # Left
|
||||
time.sleep(3)
|
||||
PWM.setMotorModel(2000, 2000, -500, -500) # Right
|
||||
time.sleep(3)
|
||||
PWM.setMotorModel(0, 0, 0, 0) # Stop
|
||||
|
||||
|
||||
def destroy():
|
||||
PWM.setMotorModel(0, 0, 0, 0)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
try:
|
||||
loop()
|
||||
except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program destroy() will be executed.
|
||||
destroy()
|
||||
4
oldLib/__init__.py
Normal file
4
oldLib/__init__.py
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
__version__ = "0.0.1"
|
||||
|
||||
pwm = PCA9685(0x40, debug=True)
|
||||
pwm.setPWMFreq(50)
|
||||
Reference in a new issue