GPIO

gpioControl.py

import RPi.GPIO as GPIO
from time import sleep

ina1 = 33
ina2 = 35
ena = 37

inb1 = 31
inb2 = 29
enb = 23

GPIO.setmode(GPIO.BOARD)

GPIO.setup(12, GPIO.OUT, initial=1)
GPIO.setup(18, GPIO.OUT, initial=1)

GPIO.output(12, GPIO.LOW)
GPIO.output(18, GPIO.LOW)
GPIO.setup(ina1,GPIO.OUT)
GPIO.setup(ina2,GPIO.OUT)
GPIO.setup(ena,GPIO.OUT)
GPIO.setup(inb1,GPIO.OUT)
GPIO.setup(inb2,GPIO.OUT)
GPIO.setup(enb,GPIO.OUT)

p1 = GPIO.PWM(18, 50)  # 50 Hz
p2 = GPIO.PWM(12, 50)  # 50
pa = GPIO.PWM(ena,1000)
pb = GPIO.PWM(enb,1000)


cameraInitPositionY = 6.0
cameraInitPositionX = 6.5

verticalVal = cameraInitPositionY
horizontalVal = cameraInitPositionX


class GpioControl(object):

    def __init__(self):
        global verticalVal
        global horizontalVal
        global p1
        global p2
        p1.start(0)
        p2.start(0)
        pa.start(25)
        pb.start(25)
        p1.ChangeDutyCycle(cameraInitPositionY)
        p2.ChangeDutyCycle(cameraInitPositionX)
        sleep(0.1)
        p1.ChangeDutyCycle(0)
        p2.ChangeDutyCycle(0)
        verticalVal = cameraInitPositionY
        horizontalVal = cameraInitPositionX
        #print("> Init Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))

    def __del__(self):
        global p1
        global p2
        p1.stop()
        p2.stop()
        print(" GPIO.__del__() ")
        GPIO.cleanup()
        
    def cleanUp(self):
        global p1
        global p2
        p1.stop()
        p2.stop()
        print(" GPIO.cleanUp() ")
        GPIO.cleanup()
        sleep(2)
    
    def initMotorPosition(self):
        # Init
        global verticalVal
        global horizontalVal
        global cameraInitPositionY
        global cameraInitPositionX
        global p1
        global p2
        p1.ChangeDutyCycle(float(cameraInitPositionY))
        p2.ChangeDutyCycle(float(cameraInitPositionX))
        sleep(0.1)
        p1.ChangeDutyCycle(float(0.0))
        p2.ChangeDutyCycle(float(0.0))
        verticalVal = cameraInitPositionY
        horizontalVal = cameraInitPositionX
        #print("> Init Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))
        return "Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal)

    def moveUp(self):
        global verticalVal
        global horizontalVal
        global p2
        if(verticalVal>3.5): 
            verticalVal = float(round(verticalVal-0.2, 1))
            p2.ChangeDutyCycle(verticalVal)
            #print("> UP Vert=%.2f ,Hort=%.2f" % (verticalVal, horizontalVal))
            sleep(0.1)
            p2.ChangeDutyCycle(0)
        return "UP Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal)
        
    def moveDown(self):
        global verticalVal
        global horizontalVal
        global p2
        if(verticalVal<8.1):
            verticalVal = float(round(verticalVal+0.2, 1))
            p2.ChangeDutyCycle(verticalVal)
            #print("> Down Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))
            sleep(0.1)
            p2.ChangeDutyCycle(0)
        return "DOWN Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal)
        
    def moveRight(self):
        global verticalVal
        global horizontalVal
        global p1
        if(horizontalVal>2.5):
            horizontalVal = float(round(horizontalVal-0.2, 1))
            p1.ChangeDutyCycle(horizontalVal)
            #print("> Right Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))
            sleep(0.1)
            p1.ChangeDutyCycle(0)
        return "RIGHT Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal)
        
    def moveLeft(self):
        global verticalVal
        global horizontalVal
        global p1
        if(horizontalVal<10):
            horizontalVal = float(round(horizontalVal+0.2, 1))
            p1.ChangeDutyCycle(horizontalVal)
            #print("> Left Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))
            sleep(0.1)
            p1.ChangeDutyCycle(0)
        return "LEFT Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal)

        
    def goForward(self,time):
        print("Go forward")
        pa.ChangeDutyCycle(75)
        GPIO.output(ina1,GPIO.HIGH)
        GPIO.output(ina2,GPIO.LOW)
        pb.ChangeDutyCycle(75)
        GPIO.output(inb1,GPIO.HIGH)
        GPIO.output(inb2,GPIO.LOW)
        sleep(0.1*int(time))
        GPIO.output(ina1,GPIO.LOW)
        GPIO.output(ina2,GPIO.LOW)
        GPIO.output(inb1,GPIO.LOW)
        GPIO.output(inb2,GPIO.LOW)
        return " >> Go Forward"

    def goBackward(self,time):
        print("Go backward")
        pa.ChangeDutyCycle(75)
        GPIO.output(ina1,GPIO.LOW)
        GPIO.output(ina2,GPIO.HIGH)
        pb.ChangeDutyCycle(75)
        GPIO.output(inb1,GPIO.LOW)
        GPIO.output(inb2,GPIO.HIGH)
        sleep(0.1*int(time))
        GPIO.output(ina1,GPIO.LOW)
        GPIO.output(ina2,GPIO.LOW)
        GPIO.output(inb1,GPIO.LOW)
        GPIO.output(inb2,GPIO.LOW)
        return " >> Go Backward"

    def goTurnleftback(self,time):
        print("Go Turn Left back")
        pa.ChangeDutyCycle(75)
        GPIO.output(inb1,GPIO.LOW)
        GPIO.output(inb2,GPIO.HIGH)
        sleep(0.1*int(time))
        GPIO.output(ina1,GPIO.LOW)
        GPIO.output(ina2,GPIO.LOW)
        GPIO.output(inb1,GPIO.LOW)
        GPIO.output(inb2,GPIO.LOW)
        return " >> Go Turn Left back"

    def goTurnrightback(self,time):
        print("Go Turn Right back")
        pb.ChangeDutyCycle(75)
        GPIO.output(ina1,GPIO.LOW)
        GPIO.output(ina2,GPIO.HIGH)
        sleep(0.1*int(time))
        GPIO.output(ina1,GPIO.LOW)
        GPIO.output(ina2,GPIO.LOW)
        GPIO.output(inb1,GPIO.LOW)
        GPIO.output(inb2,GPIO.LOW)
        return " >> Go Turn Right back"

    def goTurnleftforward(self,time):
        print("Go Turn Left forward")
        pa.ChangeDutyCycle(75)
        GPIO.output(inb1,GPIO.HIGH)
        GPIO.output(inb2,GPIO.LOW)
        sleep(0.1*int(time))
        GPIO.output(ina1,GPIO.LOW)
        GPIO.output(ina2,GPIO.LOW)
        GPIO.output(inb1,GPIO.LOW)
        GPIO.output(inb2,GPIO.LOW)
        return " >> Go Turn Left forward"

    def goTurnrightforward(self,time):
        print("Go Turn Right forward")
        pb.ChangeDutyCycle(75)
        GPIO.output(ina1,GPIO.HIGH)
        GPIO.output(ina2,GPIO.LOW)
        sleep(0.1*int(time))
        GPIO.output(ina1,GPIO.LOW)
        GPIO.output(ina2,GPIO.LOW)
        GPIO.output(inb1,GPIO.LOW)
        GPIO.output(inb2,GPIO.LOW)
        return " >> Go Turn Right forward"