PiZumo v1.0

pizumo.py

#!/usr/bin/env python
from flask import Flask, render_template, request, jsonify

# Initialize the Flask application
app = Flask(__name__)

import pigpio
pi = pigpio.pi() # Connect to local Pi.

# Motor PINs
MOTOR1A = 17    #left fwd
MOTOR1B = 18    #left rev
MOTOR2A = 23    #right fwd
MOTOR2B = 22    #right rev

# speed = pwm duty cycle, 0 = off, 255 = max
speed = 255


current_direction = (0, 0)

# setup gpios
pi.set_mode(MOTOR1A, pigpio.OUTPUT)
pi.set_mode(MOTOR1B, pigpio.OUTPUT)
pi.set_mode(MOTOR2A, pigpio.OUTPUT)
pi.set_mode(MOTOR2B, pigpio.OUTPUT)


# Route '/' and '/index' to `index`
@app.route('/')
@app.route('/index')
def index():
    # Render template
   return render_template('index.html')

@app.route('/_run')
def run():
   global current_direction
   global speed
   id1 = request.args.get('a', 0, type=int)
   id2 = request.args.get('b', 0, type=int)
   # (1,1) = fwd, (2,2) = rev, (1,2) = left, (0,0) = right, (1,0) = fwd left, (0,1) = fwd right, (2,0) = rev left, (0,2) = rev right
   if (id1 >= 0 and id1 <= 2 and id2 >= 0 and id2 <= 2) :
      print 'Motor1 is = >>> ' + str (id1) + ' - Motor2 is = >>> ' + str (id2)
      current_direction = (id1,id2)
   elif (id1 == 3 and id2 == 10): ## low speed
      speed -= 10
      if speed < 50 :
         speed = 50
      print "Speed : "+str(speed)+"\n"
      ################################
   elif (id1 == 3 and id2 == 20):
      print 'id is >>> ' + str (id2)
      ################################
   elif (id1 == 3 and id2 == 15): ## high speed
      speed += 10
      if speed > 255 :
         speed = 255
      print "Speed : "+str(speed)+"\n"
      ################################
   else:
      current_direction = (0,0)
   #time.sleep(.2)
   motor_change()
   return jsonify(result=id1,result2=id2,spdresult=speed)

@app.route ('/stop')
def stopgpio():
   pi.stop()
   
def motor_change():
    # motor 1
    if (current_direction[0] == 1) :
        pi.set_PWM_dutycycle(MOTOR1A, speed)
        pi.set_PWM_dutycycle(MOTOR1B, 0)
    elif (current_direction[0] == 2) :
        pi.set_PWM_dutycycle(MOTOR1A, 0)
        pi.set_PWM_dutycycle(MOTOR1B, speed)
    # if 0 (stop) or invalid stop anyway
    else :
        pi.set_PWM_dutycycle(MOTOR1A, 0)
        pi.set_PWM_dutycycle(MOTOR1B, 0)
    # motor 2
    if (current_direction[1] == 1) :
        pi.set_PWM_dutycycle(MOTOR2A, speed)
        pi.set_PWM_dutycycle(MOTOR2B, 0)
    elif (current_direction[1] == 2) :
        pi.set_PWM_dutycycle(MOTOR2A, 0)
        pi.set_PWM_dutycycle(MOTOR2B, speed)
    # if 0 (stop) or invalid stop anyway
    else :
        pi.set_PWM_dutycycle(MOTOR2A, 0)
        pi.set_PWM_dutycycle(MOTOR2B, 0)   
   
# Run
if __name__ == '__main__':
   app.run(host = "0.0.0.0",port = 80,debug=True)