motor_control

.py

from gpiozero import PWMOutputDevice
from time import sleep
 
#///////////////// Define Motor Driver GPIO Pins /////////////////
# Motor A, Left Side GPIO CONSTANTS
PWM_FORWARD_LEFT_PIN = 26	# IN1 - Forward Drive
PWM_REVERSE_LEFT_PIN = 19	# IN2 - Reverse Drive
# Motor B, Right Side GPIO CONSTANTS
PWM_FORWARD_RIGHT_PIN = 13	# IN1 - Forward Drive
PWM_REVERSE_RIGHT_PIN = 6	# IN2 - Reverse Drive
 
# Initialise objects for H-Bridge PWM pins
# Set initial duty cycle to 0 and frequency to 1000
forwardLeft = PWMOutputDevice(PWM_FORWARD_LEFT_PIN, True, 0, 1000)
reverseLeft = PWMOutputDevice(PWM_REVERSE_LEFT_PIN, True, 0, 1000)
 
forwardRight = PWMOutputDevice(PWM_FORWARD_RIGHT_PIN, True, 0, 1000)
reverseRight = PWMOutputDevice(PWM_REVERSE_RIGHT_PIN, True, 0, 1000)
 
 
def allStop():
	forwardLeft.value = 0
	reverseLeft.value = 0
	forwardRight.value = 0
	reverseRight.value = 0
 
def forwardDrive():
	forwardLeft.value = 1.0
	reverseLeft.value = 0
	forwardRight.value = 1.0
	reverseRight.value = 0
 
def reverseDrive():
	forwardLeft.value = 0
	reverseLeft.value = 1.0
	forwardRight.value = 0
	reverseRight.value = 1.0
 
def spinLeft():
	forwardLeft.value = 0
	reverseLeft.value = 1.0
	forwardRight.value = 1.0
	reverseRight.value = 0
 
def SpinRight():
	forwardLeft.value = 1.0
	reverseLeft.value = 0
	forwardRight.value = 0
	reverseRight.value = 1.0
 
def forwardTurnLeft():
	forwardLeft.value = 0.2
	reverseLeft.value = 0
	forwardRight.value = 0.8
	reverseRight.value = 0
 
def forwardTurnRight():
	forwardLeft.value = 0.8
	reverseLeft.value = 0
	forwardRight.value = 0.2
	reverseRight.value = 0
 
def reverseTurnLeft():
	forwardLeft.value = 0
	reverseLeft.value = 0.2
	forwardRight.value = 0
	reverseRight.value = 0.8
 
def reverseTurnRight():
	forwardLeft.value = 0
	reverseLeft.value = 0.8
	forwardRight.value = 0
	reverseRight.value = 0.2
 
def main():
	allStop()
	forwardDrive()
	sleep(5)
	reverseDrive()
	sleep(5)
	spinLeft()
	sleep(5)
	SpinRight()
	sleep(5)
	forwardTurnLeft()
	sleep(5)
	forwardTurnRight()
	sleep(5)
	reverseTurnLeft()
	sleep(5)
	reverseTurnRight()
	sleep(5)
	allStop()
 
 
if __name__ == "__main__":
    """ This is executed when run from the command line """
    main()