Freenove Ultimate Starter Kit, Руководство пользователя

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Chapter 13 Motor & Driver
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d e f setup ( ):
g l obal p
GPIO . setmode ( GPIO . BOARD ) # set mode for pin
GPIO . setup ( motoRPin1 , GPIO . OUT )
GPIO . setup ( motoRPin2 , GPIO . OUT )
GPIO . setup ( enablePin , GPIO . OUT )
p = GPIO . PWM ( enablePin , 1000 ) # creat PWM
p . start ( 0 )
#mapNUM function: map the value from a range of mapping to another range.
d e f mapNUM ( value , fromLow , fromHigh , toLow , toHigh ):
r e turn ( toHigh - toLow )*( value - fromLow ) / ( fromHigh - fromLow ) + toLow
#motor function: determine the direction and speed of the motor according to the ADC
value to be input.
d e f motor ( ADC ):
value = ADC - 128
i f ( value > 0 ) :
GPIO . output ( motoRPin1 , GPIO . HIGH )
GPIO . output ( motoRPin2 , GPIO . LOW )
p r int ( 'Turn Forward...' )
e l if ( value < 0 ) :
GPIO . output ( motoRPin1 , GPIO . LOW )
GPIO . output ( motoRPin2 , GPIO . HIGH )
p r int ( 'Turn Backward...' )
e l se :
GPIO . output ( motoRPin1 , GPIO . LOW )
GPIO . output ( motoRPin2 , GPIO . LOW )
p r int ( 'Motor Stop...' )
p . start ( mapNUM ( abs ( value ), 0 , 128 , 0 , 100 ))
p r int ( 'The PWM duty cycle is %d%%\n' %( abs ( value )* 100 / 127 )) #print PMW duty cycle.
d e f loop ( ):
w h ile T r ue :
value = analogRead ( 0 )
p r int ( 'ADC Value : %d' % ( value ))
motor ( value )
time . sleep ( 0.01 )
d e f destroy ():
bus . close ()
GPIO . cleanup ()
i f __name__ = = '__main__' :