add motor class

.gitignore

@@ -0,0 +1,254 @@
+
+# Created by https://www.toptal.com/developers/gitignore/api/python,pycharm,code
+# Edit at https://www.toptal.com/developers/gitignore?templates=python,pycharm,code
+
+### Code ###
+.vscode/*
+!.vscode/tasks.json
+!.vscode/launch.json
+*.code-workspace
+
+### PyCharm ###
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/artifacts
+# .idea/compiler.xml
+# .idea/jarRepositories.xml
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+
+### PyCharm Patch ###
+# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
+
+# *.iml
+# modules.xml
+# .idea/misc.xml
+# *.ipr
+
+# Sonarlint plugin
+# https://plugins.jetbrains.com/plugin/7973-sonarlint
+.idea/**/sonarlint/
+
+# SonarQube Plugin
+# https://plugins.jetbrains.com/plugin/7238-sonarqube-community-plugin
+.idea/**/sonarIssues.xml
+
+# Markdown Navigator plugin
+# https://plugins.jetbrains.com/plugin/7896-markdown-navigator-enhanced
+.idea/**/markdown-navigator.xml
+.idea/**/markdown-navigator-enh.xml
+.idea/**/markdown-navigator/
+
+# Cache file creation bug
+# See https://youtrack.jetbrains.com/issue/JBR-2257
+.idea/$CACHE_FILE$
+
+# CodeStream plugin
+# https://plugins.jetbrains.com/plugin/12206-codestream
+.idea/codestream.xml
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+pytestdebug.log
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+doc/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+pythonenv*
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# profiling data
+.prof
+
+# End of https://www.toptal.com/developers/gitignore/api/python,pycharm,code

.idea/.gitignore

@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml

.idea/compLIB.iml

@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$">
+      <sourceFolder url="file://$MODULE_DIR$/compLIB" isTestSource="false" />
+      <excludeFolder url="file://$MODULE_DIR$/venv" />
+    </content>
+    <orderEntry type="jdk" jdkName="Python 3.8 (compLIB)" jdkType="Python SDK" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

.idea/inspectionProfiles/profiles_settings.xml

@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

.idea/misc.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.8 (compLIB)" project-jdk-type="Python SDK" />
+</project>

.idea/modules.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/compLIB.iml" filepath="$PROJECT_DIR$/.idea/compLIB.iml" />
+    </modules>
+  </component>
+</project>

.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>

compLIB/Motor.py

@@ -1,107 +1,35 @@
-import time
+from compLIB import *
-from PCA9685 import PCA9685
 
 
-class Motor:
+class Motor(object):
-    def __init__(self):
-        self.pwm = PCA9685(0x40, debug=True)
-        self.pwm.setPWMFreq(50)
 
-    def duty_range(self, duty1, duty2, duty3, duty4):
+    @staticmethod
-        if duty1 > 4095:
+    def power(port: int, percent: int):
-            duty1 = 4095
+        """
-        elif duty1 < -4095:
+        Set specified motor to percentage power
-            duty1 = -4095
+        :param port: Port, which the motor is connected to. 0-3, 0 -> top left, 3 -> top right
+        :param percent: Percentage of max speed. between -100 and 100
+        :return: None
+        """
+        forward = True
+        if percent < 0:
+            percent = abs(percent)
+            forward = False
 
-        if duty2 > 4095:
+        adjusted_speed = min(max(0, percent), 100) * MOTOR_PERCENTAGE_MULT
-            duty2 = 4095
-        elif duty2 < -4095:
-            duty2 = -4095
 
-        if duty3 > 4095:
+        if forward:
-            duty3 = 4095
+            pwm.setMotorPwm(port * 2, 0)
-        elif duty3 < -4095:
+            pwm.setMotorPwm(port * 2 + 1, adjusted_speed)
-            duty3 = -4095
-
-        if duty4 > 4095:
-            duty4 = 4095
-        elif duty4 < -4095:
-            duty4 = -4095
-        return duty1, duty2, duty3, duty4
-
-    def left_Upper_Wheel(self, duty):
-        if duty > 0:
-            self.pwm.setMotorPwm(0, 0)
-            self.pwm.setMotorPwm(1, duty)
-        elif duty < 0:
-            self.pwm.setMotorPwm(1, 0)
-            self.pwm.setMotorPwm(0, abs(duty))
         else:
-            self.pwm.setMotorPwm(0, 4095)
+            pwm.setMotorPwm(port * 2, adjusted_speed)
-            self.pwm.setMotorPwm(1, 4095)
+            pwm.setMotorPwm(port * 2 + 1, 0)
 
-    def left_Lower_Wheel(self, duty):
+    @staticmethod
-        if duty > 0:
+    def all_off():
-            self.pwm.setMotorPwm(3, 0)
+        """
-            self.pwm.setMotorPwm(2, duty)
+        Turns of all motors
-        elif duty < 0:
+        :return:
-            self.pwm.setMotorPwm(2, 0)
+        """
-            self.pwm.setMotorPwm(3, abs(duty))
+        for i in range(0, MOTOR_COUNT):
-        else:
+            Motor.power(i, 0)
-            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()

compLIB/__init__.py

@@ -1 +1,8 @@
 __version__ = "0.0.1"
+
+pwm = PCA9685(0x40, debug=True)
+pwm.setPWMFreq(50)
+
+MOTOR_COUNT = 4
+MAX_MOTOR_SPEED = 4095.0
+MOTOR_PERCENTAGE_MULT = MAX_MOTOR_SPEED / 100.0

oldLib/Motor.py

@@ -0,0 +1,107 @@
+import time
+from PCA9685 import PCA9685
+
+
+class Motor:
+    def __init__(self):
+        self.pwm = PCA9685(0x40, debug=True)
+        self.pwm.setPWMFreq(50)
+
+    def duty_range(self, duty1, duty2, duty3, duty4):
+        if duty1 > 4095:
+            duty1 = 4095
+        elif duty1 < -4095:
+            duty1 = -4095
+
+        if duty2 > 4095:
+            duty2 = 4095
+        elif duty2 < -4095:
+            duty2 = -4095
+
+        if duty3 > 4095:
+            duty3 = 4095
+        elif duty3 < -4095:
+            duty3 = -4095
+
+        if duty4 > 4095:
+            duty4 = 4095
+        elif duty4 < -4095:
+            duty4 = -4095
+        return duty1, duty2, duty3, duty4
+
+    def left_Upper_Wheel(self, duty):
+        if duty > 0:
+            self.pwm.setMotorPwm(0, 0)
+            self.pwm.setMotorPwm(1, duty)
+        elif duty < 0:
+            self.pwm.setMotorPwm(1, 0)
+            self.pwm.setMotorPwm(0, abs(duty))
+        else:
+            self.pwm.setMotorPwm(0, 4095)
+            self.pwm.setMotorPwm(1, 4095)
+
+    def left_Lower_Wheel(self, duty):
+        if duty > 0:
+            self.pwm.setMotorPwm(3, 0)
+            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()

oldLib/__init__.py

@@ -0,0 +1,4 @@
+__version__ = "0.0.1"
+
+pwm = PCA9685(0x40, debug=True)
+pwm.setPWMFreq(50)