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CarControllers.py
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CarControllers.py
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import CarControllerInterface
import time
import Logger
import RPi.GPIO as GPIO
class OsoyooCarController():
def __init__(self, loglevel = Logger.LogLevel.NONE):
self._logger = Logger.Logger(loglevel)
self._logger.log("Init motors and GPIO")
# self._goRightPinout= (GPIO.HIGH,GPIO.LOW,GPIO.HIGH,GPIO.LOW)
# self._goLeftPinout = (GPIO.LOW,GPIO.HIGH,GPIO.LOW,GPIO.HIGH)
# self._goForwardPinout = (GPIO.HIGH,GPIO.LOW,GPIO.LOW,GPIO.HIGH)
# self._goBackwardPinout = (GPIO.LOW,GPIO.HIGH,GPIO.HIGH,GPIO.LOW)
self._goBackwardPinout= (GPIO.HIGH,GPIO.LOW,GPIO.HIGH,GPIO.LOW)
self._goForwardPinout = (GPIO.LOW,GPIO.HIGH,GPIO.LOW,GPIO.HIGH)
self._goLeftPinout = (GPIO.HIGH,GPIO.LOW,GPIO.LOW,GPIO.HIGH)
self._goRightPinout = (GPIO.LOW,GPIO.HIGH,GPIO.HIGH,GPIO.LOW)
self._leftMotorsForwardPinout = (GPIO.LOW,GPIO.HIGH)
self._rightMotorsForwardPinout = (GPIO.LOW,GPIO.HIGH)
self._leftMotorsBackwardPinout = (GPIO.HIGH,GPIO.LOW)
self._rightMotorsBackwardPinout = (GPIO.HIGH,GPIO.LOW)
self._leftMotors_channel = (11,18)
self._rightMotors_channel = (15,16)
self._motor_channel = (11,18,15,16)
self._board_channel = (11,18,15,16,12,13)
self._battery_readingPin = 37
self._max_duty_cycle = 100
GPIO.setmode(GPIO.BOARD)
GPIO.setup(self._battery_readingPin, GPIO.IN)
GPIO.setup(self._board_channel, GPIO.OUT)
self._leftMotors=GPIO.PWM(12,1000)
self._rightMotors=GPIO.PWM(13,1000)
self._leftMotors_dutyCycle = 0
self._rightMotors_dutyCycle = 0
self._leftMotors.start(0)
self._rightMotors.start(0)
def __del__(self):
self._logger.log("Stopping motors and cleaning up GPIO")
self._leftMotors.stop()
self._rightMotors.stop()
GPIO.cleanup()
def Change_dutycycle(self, left, right):
self._logger.log("OsoyooCarController:Change_dutycycle")
left_gradiant = -1 if self._leftMotors_dutyCycle>left else 1
right_gradiant = -1 if self._rightMotors_dutyCycle>right else 1
for dc in range(self._leftMotors_dutyCycle, left, left_gradiant):
self._leftMotors.ChangeDutyCycle(dc)
self._leftMotors_dutyCycle = dc
time.sleep(0.005)
for dc in range(self._rightMotors_dutyCycle, right, right_gradiant):
self._rightMotors.ChangeDutyCycle(dc)
self._rightMotors_dutyCycle = dc
time.sleep(0.005)
def Move(self, angle, speed):
self._logger.log("OsoyooCarController:Move")
assert angle <= 90 and angle >= -90 , "angle needs to be between -90 and 90"
if angle > 0:
tagetLeft_duty_cycle = self._max_duty_cycle * angle/90
tagetRight_duty_cycle = self._max_duty_cycle * (1-angle/90)
elif angle < 0:
tagetLeft_duty_cycle = self._max_duty_cycle * (1-angle/90)
tagetRight_duty_cycle = self._max_duty_cycle * angle/90
else:
tagetLeft_duty_cycle = self._max_duty_cycle
tagetRight_duty_cycle = self._max_duty_cycle
left = tagetLeft_duty_cycle*speed
right = tagetRight_duty_cycle*speed
self.Change_dutycycle(left, right, 1)
def Stop(self):
self._logger.log("OsoyooCarController:Stop")
self.Change_dutycycle(0,0)
def Rotate(self, direction, speed):
self._logger.log("OsoyooCarController:Rotate")
pass
def Forward(self, value):
GPIO.output(self._motor_channel, self._goForwardPinout)
self.Change_dutycycle(left=value,right=value)
def Backward(self, value):
GPIO.output(self._motor_channel, self._goBackwardPinout)
self.Change_dutycycle(left=value,right=value)
def Rigth(self, value):
GPIO.output(self._motor_channel, self._goRightPinout)
self.Change_dutycycle(left=value,right=value)
def Left(self, value):
GPIO.output(self._motor_channel, self._goLeftPinout)
self.Change_dutycycle(left=value,right=value)
def MotorControl(self, targetSpeed, ductyCycleController, currentSpeed, channel, BackwardPinout, ForwardPinout):
self._logger.log("OsoyooCarController:MotorControl current %d target %d"%(currentSpeed, targetSpeed))
assert targetSpeed <= 100 and targetSpeed >= -100 , "angle needs to be between -90 and 90"
gradiant = -1 if currentSpeed>targetSpeed else 1
for dc in range(currentSpeed, targetSpeed+gradiant, gradiant):
ductyCycleController.ChangeDutyCycle(abs(dc))
currentSpeed = dc
if currentSpeed > 0 :
GPIO.output(channel, ForwardPinout)
else:
GPIO.output(channel, BackwardPinout)
time.sleep(0.001)
return currentSpeed
def LefMotorControl(self, value):
self._logger.log("OsoyooCarController:LefMotorControl value %d"%value)
if value == self._leftMotors_dutyCycle:
self._logger.log("OsoyooCarController:LefMotorControl same value no action")
return
self._leftMotors_dutyCycle = self.MotorControl(value, self._leftMotors, self._leftMotors_dutyCycle,self._leftMotors_channel, \
self._leftMotorsForwardPinout, self._leftMotorsBackwardPinout)
return
def RightMotorControl(self, value):
self._logger.log("OsoyooCarController:RightMotosControl value %d"%value)
if value == self._rightMotors_dutyCycle:
self._logger.log("OsoyooCarController:LefMotorControl same value no action")
return
self._rightMotors_dutyCycle = self.MotorControl(value, self._rightMotors, self._rightMotors_dutyCycle,self._rightMotors_channel, \
self._rightMotorsForwardPinout, self._rightMotorsBackwardPinout)
return
def CheckWheels(self):
self._logger.log("OsoyooCarController:CheckWheels")
self.Left(50)
time.sleep(5)
self.Rigth(50)
time.sleep(5)
self.Forward(50)
time.sleep(5)
self.Backward(50)
time.sleep(5)
self.Stop()
def ReadBatteryLevel(self):
return GPIO.input(self._battery_readingPin)