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Update NewMotorFunc.py

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MA-QIAN 2020-11-19 11:07:08 -05:00 committed by GitHub
parent 3c6ed80d8e
commit 82d9947ef5
1 changed files with 78 additions and 72 deletions
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68
Hardware/Updated_HW_codes/NewMotorFunc.py
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@ -1,9 +1,10 @@
import RPi.GPIO as GPIO mport RPi.GPIO as GPIO
import pyrebase # u need to install Pyrebase module firstly import pyrebase # u need to install Pyrebase module firstly
from time import sleep from time import sleep
class Motor: class Motor:
print("Starting of the program") print("Starting of the program")
def __init__(self): def __init__(self):
@ -20,54 +21,58 @@ class Motor:
GPIO.setmode(GPIO.BCM) GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False) GPIO.setwarnings(False)
# preset GPIO ports for 2 motors #preset GPIO ports for 2 motors
self.Motor1 = {'EN': 25, 'input1': 24, 'input2': 23} self.Motor1 = {'EN': 25, 'input1': 24, 'input2': 23}
self.Motor2 = {'EN': 17, 'input1': 27, 'input2': 22} self.Motor2 = {'EN': 17, 'input1': 27, 'input2': 22}
# preset the port for buttons and alarm # preset the port for buttons and alarm
GPIO.setup(5, GPIO.IN) # start motor button, initially True GPIO.setup(5,GPIO.IN) # start motor button, initially True
GPIO.setup(13, GPIO.IN) # stop 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(16,GPIO.IN) # start alarm button, initially True
GPIO.setup(26, GPIO.OUT) # alarm output GPIO.setup(26,GPIO.OUT) # alarm output
for x in self.Motor1: for x in self.Motor1:
GPIO.setup(self.Motor1[x], GPIO.OUT) GPIO.setup(self.Motor1[x], GPIO.OUT)
GPIO.setup(self.Motor2[x], GPIO.OUT) GPIO.setup(self.Motor2[x], GPIO.OUT)
# utilize PWM function, enable motors and frequency is 100Hz #utilize PWM function, enable motors and frequency is 100Hz
self.EN1 = GPIO.PWM(self.Motor1['EN'], 100) self.EN1 = GPIO.PWM(self.Motor1['EN'], 100)
self.EN2 = GPIO.PWM(self.Motor2['EN'], 100) self.EN2 = GPIO.PWM(self.Motor2['EN'], 100)
self.EN1.start(0) self.EN1.start(0)
self.EN2.start(0) self.EN2.start(0)
# stop signals for motors and alarm #stop signals for motors and alarm
self.motorStop = False self.motorStop=False
self.alarmStop = False self.alarmStop=False
# new update motor and alarm functions, are able to connect embedded system throught firebase
# new update motor and alarm functions, are able to connect embedded system throught firebase
def start_motor(self): def start_motor(self):
self.motorStop = self.stop_motor() self.motorStop=self.stop_motor()
while (not self.motorStop) or (not GPIO.input(5)): # break the loop when motor stop signal is detected while (not self.motorStop) or (not GPIO.input(5)): #break the loop when motor stop signal is detected
self.motorStop=self.stop_motor()
self.motorStop = self.stop_motor()
def stop_motor(self): def stop_motor(self):
database = self.firebase.database() # get alarm on/off signal from firebase database = self.firebase.database() # get alarm on/off signal from firebase
signals = database.child("signal") signals = database.child("signal")
motorSignal = signals.child("1").child("motor").get().val() motorSignal = signals.child("power").get().val()
if (motorSignal == "off") or (not GPIO.input(13)):
if (motorSignal=="off") or (not GPIO.input(13)):
print("stopping motor...") print("stopping motor...")
self.EN1.ChangeDutyCycle(0) self.EN1.ChangeDutyCycle(0)
self.EN2.ChangeDutyCycle(0) self.EN2.ChangeDutyCycle(0)
print("motor stops") print("motor stops")
return True return True
elif motorSignal == "on": elif motorSignal=="on":
self.EN1.ChangeDutyCycle(50) self.EN1.ChangeDutyCycle(50)
self.EN2.ChangeDutyCycle(50) self.EN2.ChangeDutyCycle(50)
@ -81,39 +86,40 @@ class Motor:
print("motor is turned on") print("motor is turned on")
return False return False
def start_alarm(self): def start_alarm(self):
self.alarmStop = self.stop_alarm() self.alarmStop=self.stop_alarm()
while (not self.alarmStop) or (not GPIO.input(16)): # if alarmStop is False or button is pressed while (not self.alarmStop) or (not GPIO.input(16)): # if alarmStop is False or button is pressed
# # enter the loop # # enter the loop
self.alarmStop = self.stop_alarm() # infinitely check if alarmStop True self.alarmStop=self.stop_alarm() # infinitely check if alarmStop True
# break the loop if alarm is turned off # break the loop if alarm is turned off
def stop_alarm(self): def stop_alarm(self):
database = self.firebase.database() # get alarm on/off signal from firebase database = self.firebase.database() # get alarm on/off signal from firebase
signals = database.child("signal") signals = database.child("signal")
alarmSignal = signals.child("1").child("alarm").get().val() alarmSignal = signals.child("alarm").get().val()
if alarmSignal == "off": if alarmSignal=="off":
print("Alarm turning off...") print("Alarm turning off...")
self.alarmStop = True self.alarmStop=True
GPIO.output(26, False) GPIO.output(26,False)
print("Alarm is off") print("Alarm is off")
return True return True
elif alarmSignal == "on": elif alarmSignal=="on":
GPIO.output(26, True) GPIO.output(26,True)
print("Alarm is turned on") print("Alarm is turned on")
return False return False
if __name__ == "__main__": if _name__=="__main_":
# print("Execute function...") #print("Execute function...")
motor1 = Motor()
motor1=Motor()
while True: # turn on the system forever while True: # turn on the system forever