furby/furbytestio.py at main · riichard/furby · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
from time import sleep #Only used for example

#Raspberry Pi TB6612FNG Library
import RPi.GPIO as GPIO

#See https://raspberrypi.stackexchange.com/a/12967 for more info
#GPIO.setmode(GPIO.BCM)
GPIO.setmode(GPIO.BOARD)


class Motor:
	in1 = ""
	in2 = ""
	pwm = ""
	standbyPin = ""

	#Defaults
	hertz = 1000
	reverse = False #Reverse flips the direction of the motor

	#Constructor
	def __init__(self, in1, in2, pwm, standbyPin, reverse):
		self.in1 = in1
		self.in2 = in2
		self.pwm = pwm
		self.standbyPin = standbyPin
		self.reverse = reverse

		GPIO.setup(in1,GPIO.OUT)
		GPIO.setup(in2,GPIO.OUT)
		GPIO.setup(pwm,GPIO.OUT)
		GPIO.setup(standbyPin,GPIO.OUT)
		GPIO.output(standbyPin,GPIO.HIGH)
		self.p = GPIO.PWM(pwm, self.hertz)
		self.p.start(0)

	#Speed from -100 to 100
	def drive(self, speed):
		#Negative speed for reverse, positive for forward
		#If necessary use reverse parameter in constructor
		dutyCycle = speed
		if(speed < 0):
			dutyCycle = dutyCycle * -1

		if(self.reverse):
			speed = speed * -1

		if(speed > 0):
			GPIO.output(self.in1,GPIO.HIGH)
			GPIO.output(self.in2,GPIO.LOW)
		else:
			GPIO.output(self.in1,GPIO.LOW)
			GPIO.output(self.in2,GPIO.HIGH)
		self.p.ChangeDutyCycle(dutyCycle)

	def brake(self):
		self.p.ChangeDutyCycle(0)
		GPIO.output(self.in1,GPIO.HIGH)
		GPIO.output(self.in2,GPIO.HIGH)

	def standby(self, value):
		self.p.ChangeDutyCycle(0)
		GPIO.output(self.standbyPin,value)


if __name__ == '__main__':
    test = Motor(16, 11, 7, 13, False)
    test.drive(100) #Forward 100% dutycycle
    sleep(1)
    test.drive(-100) #Backwards 100% dutycycle
    sleep(1)
    test.brake() #Short brake
    sleep(0.1)

    test.standby(True) #Enable standby
    test.standby(False) #Disable standby