106 lines
3.1 KiB
Python
106 lines
3.1 KiB
Python
|
import RPi.GPIO as GPIO
|
||
|
|
from time import sleep
|
||
|
|
|
||
|
|
class Motor:
|
||
|
|
|
||
|
|
print("Starting of the program")
|
||
|
|
|
||
|
|
def __init__(self):
|
||
|
|
|
||
|
|
GPIO.setmode(GPIO.BCM)
|
||
|
|
GPIO.setwarnings(False)
|
||
|
|
|
||
|
|
#preset GPIO ports for 2 motors
|
||
|
|
self.Motor1 = {'EN': 25, 'input1': 24, 'input2': 23}
|
||
|
|
self.Motor2 = {'EN': 17, 'input1': 27, 'input2': 22}
|
||
|
|
|
||
|
|
# preset the port for buttons and alarm
|
||
|
|
GPIO.setup(5,GPIO.IN) # start motor button, initially True
|
||
|
|
GPIO.setup(13,GPIO.IN) # stop motor button, initially True
|
||
|
|
GPIO.setup(16,GPIO.IN) # start alarm button, initially True
|
||
|
|
GPIO.setup(26,GPIO.OUT) # alarm output
|
||
|
|
|
||
|
|
for x in self.Motor1:
|
||
|
|
GPIO.setup(self.Motor1[x], GPIO.OUT)
|
||
|
|
GPIO.setup(self.Motor2[x], GPIO.OUT)
|
||
|
|
|
||
|
|
#utilize PWM function, enable motors and frequency is 100Hz
|
||
|
|
self.EN1 = GPIO.PWM(self.Motor1['EN'], 100)
|
||
|
|
self.EN2 = GPIO.PWM(self.Motor2['EN'], 100)
|
||
|
|
|
||
|
|
self.EN1.start(0)
|
||
|
|
self.EN2.start(0)
|
||
|
|
|
||
|
|
#stop signals for motors and alarm
|
||
|
|
self.motorStop=False
|
||
|
|
self.alarmStop=False
|
||
|
|
|
||
|
|
|
||
|
|
def start_motor(self):
|
||
|
|
|
||
|
|
while (not self.motorStop) or (not GPIO.input(5)): #break the loop when motor stop signal is detected
|
||
|
|
|
||
|
|
print ("FORWARD MOTION")
|
||
|
|
self.motorStop=self.stop_motor()
|
||
|
|
|
||
|
|
self.EN1.ChangeDutyCycle(50)
|
||
|
|
self.EN2.ChangeDutyCycle(50)
|
||
|
|
|
||
|
|
GPIO.output(self.Motor1['input1'], GPIO.HIGH)
|
||
|
|
GPIO.output(self.Motor1['input2'], GPIO.LOW)
|
||
|
|
|
||
|
|
GPIO.output(self.Motor2['input1'], GPIO.HIGH)
|
||
|
|
GPIO.output(self.Motor2['input2'], GPIO.LOW)
|
||
|
|
|
||
|
|
GPIO.cleanup()
|
||
|
|
|
||
|
|
def stop_motor(self):
|
||
|
|
|
||
|
|
userStop=input("Stop the motor? choose between Y/N")
|
||
|
|
|
||
|
|
if (userStop=="Y") or (not GPIO.input(13)):
|
||
|
|
print("stopping motor...")
|
||
|
|
self.EN1.ChangeDutyCycle(0)
|
||
|
|
self.EN2.ChangeDutyCycle(0)
|
||
|
|
print("motor stops")
|
||
|
|
return True
|
||
|
|
elif userStop=="N":
|
||
|
|
return False
|
||
|
|
else:
|
||
|
|
stop_motor(self)
|
||
|
|
|
||
|
|
|
||
|
|
def start_alarm(self):
|
||
|
|
|
||
|
|
while (not self.alarmStop) or (not GPIO.input(16)):
|
||
|
|
|
||
|
|
self.alarmStop=self.stop_alarm()
|
||
|
|
GPIO.output(26,True)
|
||
|
|
|
||
|
|
GPIO.cleanup()
|
||
|
|
|
||
|
|
def stop_alarm(self):
|
||
|
|
|
||
|
|
stopRequest=input("Turn off the alarm? choose between Y/N")
|
||
|
|
if stopRequest=="Y":
|
||
|
|
print("Alarm turning off...")
|
||
|
|
GPIO.output(26,False)
|
||
|
|
print("Alarm is off")
|
||
|
|
return True
|
||
|
|
elif stopRequest=="N":
|
||
|
|
return False
|
||
|
|
else:
|
||
|
|
self.stop_alarm()
|
||
|
|
|
||
|
|
|
||
|
|
if __name__=="__main__":
|
||
|
|
|
||
|
|
#print("Execute function...")
|
||
|
|
|
||
|
|
|
||
|
|
motor1=Motor()
|
||
|
|
#motor1.start_motor()
|
||
|
|
motor1.start_alarm()
|
||
|
|
|
||
|
|
|