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