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added robot class and example movement sequence

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Simon Pirkelmann 2019-04-12 21:43:13 +02:00
parent 0b6f61932f
commit 157c61ad87
1 changed files with 57 additions and 15 deletions
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70
micropython_firmware/main.py
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@ -4,6 +4,9 @@ import time
class Motor:
def __init__(self, enable, dir1, dir2):
self.enable_pin = machine.Pin(enable, machine.Pin.OUT)
self.enable_pwm = machine.PWM(self.enable_pin)
self.enable_pwm.freq(500)
self.dir1_pin = machine.Pin(dir1, machine.Pin.OUT)
self.dir2_pin = machine.Pin(dir2, machine.Pin.OUT)
@ -11,25 +14,64 @@ class Motor:
self.reverse()
def reverse(self):
print("reversing direction")
self.direction = not self.direction
self.dir1_pin.value(self.direction)
self.dir2_pin.value(not self.direction)
def spin(self,seconds):
self.enable_pin.value(1)
def control(self, value):
if value > 0.0: # forward
if not self.direction: # switch direction if necessary
self.reverse()
else: # backward
if self.direction: # switch direction if necessary
self.reverse()
# apply value as pwm signal
self.enable_pwm.duty(int(abs(value)*1023))
class Robot:
def __init__(self):
print("setting up motors")
self.m1 = Motor(4, 16, 5)
self.m2 = Motor(14, 0, 2)
print("setup complete")
def forward(self, seconds):
print("Onward, to glory!")
self.m1.control(1.0)
self.m2.control(1.0)
time.sleep(seconds)
self.enable_pin.value(0)
self.m1.control(0.0)
self.m2.control(0.0)
print("setting up pins")
m1 = Motor(4, 16, 5)
m2 = Motor(14, 0, 2)
print("setup complete")
def backward(self, seconds):
print("Better retreat...")
self.m1.control(-1.0)
self.m2.control(-1.0)
time.sleep(seconds)
self.m1.control(0.0)
self.m2.control(0.0)
print("Motor test")
print("Motor 1:")
m1.spin(0.1)
print("Motor 2:")
m2.spin(0.1)
def spin_right(self, seconds):
print("You spin my head right round, right round..")
self.m1.control(0.8)
self.m2.control(-0.8)
time.sleep(seconds)
self.m1.control(0.0)
self.m2.control(0.0)
print("done!")
def spin_left(self, seconds):
print("spinning left")
self.m1.control(-0.8)
self.m2.control(0.8)
time.sleep(seconds)
self.m1.control(0.0)
self.m2.control(0.0)
def sequence(self):
self.spin_left(0.3)
self.spin_right(0.3)
self.forward(0.5)
self.backward(0.5)
wall_e = Robot()