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Drive_Class.py
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import serial
import RPi.GPIO as GPIO
ENABLE_PRINT=1
class Car(object):
in1 = 17
in2 = 18
in3 = 27
in4 = 22
enA = 12
enB = 13
lowPwm=10
highPwm=80
brzina=0
def __init__(self):
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.in1, GPIO.OUT)
GPIO.setup(self.in2, GPIO.OUT)
GPIO.setup(self.in3, GPIO.OUT)
GPIO.setup(self.in4, GPIO.OUT)
GPIO.setup(self.enA,GPIO.OUT)
GPIO.setup(self.enB,GPIO.OUT)
self.pwmLeft=GPIO.PWM(self.enA,50)
self.pwmRight=GPIO.PWM(self.enB,50)
self.pwmLeft.start(0)
self.pwmRight.start(0)
def destroy(self):
if ENABLE_PRINT == 1:
print("destroy")
GPIO.output(self.in1,GPIO.LOW)
GPIO.output(self.in2,GPIO.LOW)
GPIO.output(self.in3,GPIO.LOW)
GPIO.output(self.in4,GPIO.LOW)
GPIO.output(self.enA,GPIO.LOW)
GPIO.output(self.enB,GPIO.LOW)
GPIO.cleanup()
def forward(self):
if ENABLE_PRINT == 1:
print("forward")
self.pwmLeft.ChangeDutyCycle(self.brzina)
self.pwmRight.ChangeDutyCycle(self.brzina)
GPIO.output(self.in1,GPIO.LOW)
GPIO.output(self.in2,GPIO.HIGH)
GPIO.output(self.in3,GPIO.LOW)
GPIO.output(self.in4,GPIO.HIGH)
def reverse(self):
if ENABLE_PRINT == 1:
print("reverse")
self.pwmLeft.ChangeDutyCycle(self.brzina)
self.pwmRight.ChangeDutyCycle(self.brzina)
GPIO.output(self.in1,GPIO.HIGH)
GPIO.output(self.in2,GPIO.LOW)
GPIO.output(self.in3,GPIO.HIGH)
GPIO.output(self.in4,GPIO.LOW)
def turn_left(self):
if ENABLE_PRINT == 1:
print("turn_left")
self.pwmLeft.ChangeDutyCycle(self.brzina)
self.pwmRight.ChangeDutyCycle(0)
GPIO.output(self.in1,GPIO.LOW)
GPIO.output(self.in2,GPIO.HIGH)
GPIO.output(self.in3,GPIO.LOW)
GPIO.output(self.in4,GPIO.LOW)
def turn_right(self):
if ENABLE_PRINT == 1:
print("turn_right")
self.pwmLeft.ChangeDutyCycle(0)
self.pwmRight.ChangeDutyCycle(self.brzina)
GPIO.output(self.in1,GPIO.LOW)
GPIO.output(self.in2,GPIO.LOW)
GPIO.output(self.in3,GPIO.LOW)
GPIO.output(self.in4,GPIO.HIGH)
def stop(self):
if ENABLE_PRINT == 1:
print("stop")
GPIO.output(self.in1,GPIO.LOW)
GPIO.output(self.in2,GPIO.LOW)
GPIO.output(self.in3,GPIO.LOW)
GPIO.output(self.in4,GPIO.LOW)
def forward_left(self):
if ENABLE_PRINT == 1:
print("forward_left")
GPIO.output(self.in1,GPIO.LOW)
GPIO.output(self.in2,GPIO.HIGH)
GPIO.output(self.in3,GPIO.LOW)
GPIO.output(self.in4,GPIO.HIGH)
self.pwmLeft.ChangeDutyCycle(self.highPwm)
self.pwmRight.ChangeDutyCycle(self.lowPwm)
def forward_right(self):
if ENABLE_PRINT == 1:
print("forward_right")
GPIO.output(self.in1,GPIO.LOW)
GPIO.output(self.in2,GPIO.HIGH)
GPIO.output(self.in3,GPIO.LOW)
GPIO.output(self.in4,GPIO.HIGH)
self.pwmLeft.ChangeDutyCycle(self.lowPwm)
self.pwmRight.ChangeDutyCycle(self.highPwm)
def backward_left(self):
if ENABLE_PRINT == 1:
print("backward_left")
GPIO.output(self.in1,GPIO.HIGH)
GPIO.output(self.in2,GPIO.LOW)
GPIO.output(self.in3,GPIO.HIGH)
GPIO.output(self.in4,GPIO.LOW)
self.pwmLeft.ChangeDutyCycle(self.highPwm)
self.pwmRight.ChangeDutyCycle(self.lowPwm)
def backward_right(self):
if ENABLE_PRINT == 1:
print("backward_right")
GPIO.output(self.in1,GPIO.HIGH)
GPIO.output(self.in2,GPIO.LOW)
GPIO.output(self.in3,GPIO.HIGH)
GPIO.output(self.in4,GPIO.LOW)
self.pwmLeft.ChangeDutyCycle(self.lowPwm)
self.pwmRight.ChangeDutyCycle(self.highPwm)
def speed_zero(self):
if ENABLE_PRINT == 1:
print("speed_zero")
self.brzina=0
def speed_one(self):
if ENABLE_PRINT == 1:
print("speed_one")
self.brzina=10
def speed_two(self):
if ENABLE_PRINT == 1:
print("speed_two")
self.brzina=20
def speed_three(self):
if ENABLE_PRINT == 1:
print("speed_three")
self.brzina=30
def speed_four(self):
if ENABLE_PRINT == 1:
print("speed_four")
self.brzina=40
def speed_five(self):
if ENABLE_PRINT == 1:
print("speed_five")
self.brzina=50
def speed_six(self):
if ENABLE_PRINT == 1:
print("speed_six")
self.brzina=60
def speed_seven(self):
if ENABLE_PRINT == 1:
print("speed_seven")
self.brzina=70
def speed_eight(self):
if ENABLE_PRINT == 1:
print("speed_eight")
self.brzina=80
def speed_nine(self):
if ENABLE_PRINT == 1:
print("speed_nine")
self.brzina=90
def speed_ten(self):
if ENABLE_PRINT == 1:
print("speed_ten")
self.brzina=100