Zwischenstand Motorenimplementierung

__init__.py

@@ -0,0 +1 @@
+

aktoren/__init__.py

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+

aktoren/motor.py

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+import RPi.GPIO as GPIO
+class Motor(object):
+	def __init__(self,directionPin,speedPin,directionForward):	
+		self.directionPin=directionPin	#BCM-Pin
+		self.speedPin=speedPin	#BCM-Pin
+		self.directionForward=directionForward; 	#Enthaelt einen BOOL 
+		self.changeSpeed(0)
+		GPIO.setup(self.directionPin, GPIO.OUT)
+		GPIO.setup(self.speedPin, GPIO.OUT)
+		self.stop()
+	def forward(self):
+		GPIO.output(self.directionPin,self.directionForward)
+		GPIO.output(self.speedPin,1)
+	def backward(self):
+		GPIO.output(self.directionPin,(not self.directionForward))
+		GPIO.output(self.speedPin,1)
+	def changeSpeed(self,speed):
+		self.speed=speed
+	def stop(self):
+		GPIO.output(self.speedPin, 0)
+

core.py

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+import RPi.GPIO as GPIO
+from motion import Motion as MOTION
+"""
+Diese Klasse stellt alle Core-Funktionen (Aktoren, Sensoren) fuer den Erinaco Roboter zur Verfuegung. 
+@author kf
+@since 2017-04-15
+"""
+class Core(MOTION):
+	def __init__(self):
+		GPIO.setmode(GPIO.BCM);
+		MOTION.__init__(self);
+	def __del__(self):
+		GPIO.cleanup();

gpio_mapping.py

@@ -1,11 +1,15 @@
 import RPi.GPIO as GPIO
 GPIO.setmode(GPIO.BCM);
 
+def pinIt(pin,art,value,name):
+	print("Pin {0:2}; Art {1:3};  Value: {2}; Name: {3}; ".format(pin,art,value,name));
 def checkInput(pin,name):
 	GPIO.setup(pin, GPIO.IN);
-	print("Pin {0}; Value {1}; {2}; ".format(pin,GPIO.input(pin),name));
+	pinIt(pin,"IN",GPIO.input(pin),name);
 def output(pin,name):
-	print("Pin {0}; Name {1};".format(pin,name));
+	GPIO.setup(pin, GPIO.OUT)
+	GPIO.output(pin, 0)
+	pinIt(pin,'OUT','0',name);
 print('--- Allgemeine Sensoren ---')
 checkInput(19,"PIR")
 checkInput(26,"DHT11")
@@ -22,9 +26,9 @@ checkInput(27,"UA-2-IN")
 output(5,"UA-3-TRIGGER")
 checkInput(17,"UA-3-IN")
 print('--- Motorenbelegung ---');
-output(18,"A-1A") #Grau
-output(23,"A-1B") #Weiss
-output(24,"B-1A") #Blau
-output(25,"B-1B") #Lila
+output(23,"A-1A") #Grau
+output(18,"A-1B") #Weiss
+output(25,"B-1A") #Blau
+output(24,"B-1B") #Lila
 GPIO.cleanup();
 

manual_controll.py

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+from time import sleep
+#from core import Core as CORE
+#core=CORE();
+#core.backward()               
+
+from aktoren.motor import Motor as MOTOR
+import RPi.GPIO as GPIO
+GPIO.setmode(GPIO.BCM)
+#motorLeft=MOTOR(23,18,1) #Initialisierung des linken Motors
+motorRight=MOTOR(24,25,0) #Initialisierung des rechten Motors
+motorRight.forward()
+GPIO.cleanup();
+
+sleep(5)

motion.py

@@ -0,0 +1,27 @@
+from aktoren.motor import Motor as MOTOR
+
+"""
+Diese Klasse stellt alle Motion-Funktionen fuer den Erinaco Roboter zur Verfuegung.
+@author kf
+@since 2017-04-15
+"""
+class Motion(object):
+        def __init__(self):
+                self.motorLeft=MOTOR(23,18,1) #Initialisierung des linken Motors
+                self.motorRight=MOTOR(24,25,0) #Initialisierung des rechten Motors
+        def turnLeft(self):
+                self.motorRight.forward()
+                self.motorLeft.backward()
+        def turnRigh(self):
+                self.motorRight.backward()
+                self.motorLeft.forward()
+        def forward(self):
+                self.motorRight.forward()
+                self.motorLeft.forward()
+        def backward(self):
+                self.motorRight.backward()
+                self.motorLeft.backward()
+        def stop(self):
+                self.motorRight.stop()
+                self.motorLeft.stop()
+

sensoren/__init__.py

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+

test/pir2.py

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+import RPi.GPIO as GPIO
+import time
+
+SENSOR_PIN = 19
+
+GPIO.setmode(GPIO.BCM)
+GPIO.setup(SENSOR_PIN, GPIO.IN)
+
+try:
+	while True:
+		if GPIO.input(SENSOR_PIN):
+			print('Es gab eine Bewegung!')
+		else:
+			print('Es gab KEINE Bewegung!')
+		time.sleep(1)
+except KeyboardInterrupt:
+	print("Beende...")
+GPIO.cleanup()
+

test/ultraschall.py

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+#!/usr/bin/python3
+# Datei ultraschall.py
+import time
+import RPi.GPIO as GPIO
+
+GPIO.setmode(GPIO.BCM)
+trig = 5  # GPIO-Pin-Nummern
+echo = 17
+GPIO.setup(echo, GPIO.IN)
+GPIO.setup(trig, GPIO.OUT)
+
+while True:
+    GPIO.output(trig, True)
+    time.sleep(0.00001) # 10 Mikrosekunden
+    GPIO.output(trig, False)
+
+    while GPIO.input(echo) == 0:
+        pass
+    start = time.time()   
+    while GPIO.input(echo) == 1:
+        pass
+    ende = time.time()
+    entfernung = ((ende - start) * 34300) / 2
+    print("Entfernung:", entfernung, "cm")
+    time.sleep(0.5)