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Hardware(motor control)/Motor.py

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+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()
+    
+