Robotprosjektet | utils.py

import RPi.GPIO as GPIO
import time

class agent():
    def __init__(self, pins, frequency):
        GPIO.setmode(GPIO.BCM)
        GPIO.setwarnings(False)

        self.pins = pins
        self.pwms = []
        self.frequency = frequency

        for pin in self.pins:
            print(pin)
            GPIO.setup(pin, GPIO.OUT)
            self.pwms.append(GPIO.PWM(pin, self.frequency))

        for pwm in self.pwms:
            pwm.start(0)

    def stop_motors(self):
        for pwm in self.pwms:
            pwm.ChangeDutyCycle(0)

    def drive(self, left_motor, right_motor):
        right_motor *= 100
        left_motor *= 100
        print(left_motor, right_motor)
        print(self.pwms)
        if left_motor >= 0:
            print("left", )
            self.pwms[0].ChangeDutyCycle(left_motor)
            self.pwms[1].ChangeDutyCycle(0)
        else:
            print("-left")
            self.pwms[1].ChangeDutyCycle(left_motor * -1)  # It is currently negative so making it positive
            self.pwms[0].ChangeDutyCycle(0)

        if right_motor >= 0:
            print("right")
            self.pwms[2].ChangeDutyCycle(right_motor)
            self.pwms[3].ChangeDutyCycle(0)
        else:
            print("-right")
            self.pwms[3].ChangeDutyCycle(right_motor * -1)  # It is currently negative so making it positive
            self.pwms[2].ChangeDutyCycle(0)

    def cleanup(self):
        GPIO.cleanup()