TPE - Voitures autonomes

import RPi.GPIO as GPIO
from time import sleep

GPIO.setmode(GPIO.BCM)

 

motor1A=16
motor1B=20
motor1E=21

motor2A=9
motor2B=10
motor2E=11

GPIO.setup(motor1A,GPIO.OUT)
GPIO.setup(motor1B,GPIO.OUT)
GPIO.setup(motor1E,GPIO.OUT)

GPIO.setup(motor2A,GPIO.OUT)
GPIO.setup(motor2B,GPIO.OUT)
GPIO.setup(motor2E,GPIO.OUT)

motor1 = GPIO.PWM(21,50)
motor1.start(0)
motor2 = GPIO.PWM(11,50)
motor2.start(0)

def avant(speed):
 print "Avant"
 GPIO.output(motor1A,GPIO.HIGH)
 GPIO.output(motor1B,GPIO.LOW)
 motor1.ChangeDutyCycle(speed)
 GPIO.output(motor2A,GPIO.HIGH)
 GPIO.output(motor2B,GPIO.LOW)
 motor2.ChangeDutyCycle(speed)

 
def arriere(speed):
 print "Arriere"
 GPIO.output(motor1A,GPIO.LOW)
 GPIO.output(motor1B,GPIO.HIGH)
 motor1.ChangeDutyCycle(speed)
 GPIO.output(motor2A,GPIO.LOW)
 GPIO.output(motor2B,GPIO.HIGH)
 motor2.ChangeDutyCycle(speed)

 

def pivot_droite(speed):
 print "Pivot Droite"
 GPIO.output(motor1A,GPIO.HIGH)
 GPIO.output(motor1B,GPIO.LOW)
 GPIO.output(motor2A,GPIO.LOW)
 GPIO.output(motor2B,GPIO.HIGH)
 motor1.ChangeDutyCycle(speed)
 motor2.ChangeDutyCycle(speed)

 

def pivot_gauche(speed):
 print "Pivot Gauche"
 GPIO.output(motor1A,GPIO.LOW)
 GPIO.output(motor1B,GPIO.HIGH)
 GPIO.output(motor2A,GPIO.HIGH)
 GPIO.output(motor2B,GPIO.LOW)
 motor1.ChangeDutyCycle(speed)
 motor2.ChangeDutyCycle(speed)

 

def stop():
 motor1.ChangeDutyCycle(0)
 motor2.ChangeDutyCycle(0)

 

# Utilisation des fonctions :

# Exemple ou la voiture avance pendant 4 secondes a la vitesse de 50 puis de 100

# Ensuite la voiture recule pendant 2 secondes a la vitesse de 50

# La voiture pivote a gauche puis pivote a droite 

# Pour finir la voiture s'arrete

​

#avant(50)
#sleep(2)
#avant(100)
#sleep(2)
#arriere(50)
#sleep(2)
#stop()
#pivot_gauche(75)
#sleep(2)
#stop()
#pivot_droite(75)
#sleep(2)
#stop()

 

GPIO.cleanup()