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Testing with continous movement

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Jonas Hahn
2025-09-23 22:14:04 +02:00
parent 697e68a97e
commit 12bbb35dc5
1 changed files with 23 additions and 31 deletions
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50
motor.py
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@@ -15,32 +15,34 @@ BUTTON2_FWD = 17 # Motor2 forward
BUTTON2_BWD = 27 # Motor2 backward BUTTON2_BWD = 27 # Motor2 backward
SHUTDOWN_BTN = 26 # Shutdown button SHUTDOWN_BTN = 26 # Shutdown button
# Setup buttons # Setup buttons (pulled down, pressed = HIGH)
buttons = [BUTTON1_FWD, BUTTON1_BWD, BUTTON2_FWD, BUTTON2_BWD, SHUTDOWN_BTN] for button in [BUTTON1_FWD, BUTTON1_BWD, BUTTON2_FWD, BUTTON2_BWD, SHUTDOWN_BTN]:
for button in buttons:
GPIO.setup(button, GPIO.IN, pull_up_down=GPIO.PUD_DOWN) GPIO.setup(button, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
# Setup servo pins # Setup servo pins
GPIO.setup(SERVO1_PIN, GPIO.OUT) GPIO.setup(SERVO1_PIN, GPIO.OUT)
GPIO.setup(SERVO2_PIN, GPIO.OUT) GPIO.setup(SERVO2_PIN, GPIO.OUT)
# PWM setup for servo motors (50Hz typical for servos) servo1 = GPIO.PWM(SERVO1_PIN, 50) # 50Hz
servo1 = GPIO.PWM(SERVO1_PIN, 50)
servo2 = GPIO.PWM(SERVO2_PIN, 50) servo2 = GPIO.PWM(SERVO2_PIN, 50)
servo1.start(0) servo1.start(0)
servo2.start(0) servo2.start(0)
# ---------------------------- # ----------------------------
# Speed variable (0-100%) # Helpers
# ---------------------------- # ----------------------------
speed = 50 # Default speed percentage def pulse_to_duty(pulse_us):
return (pulse_us / 20000.0) * 100.0 # 20ms period → duty %
# Function to convert speed to duty cycle for servo (1-2 ms pulse) # Pulse limits
def speed_to_duty(speed_percent): STOP_PULSE = 1500
# 1 ms = 5% duty, 2 ms = 10% duty at 50Hz MIN_PULSE = 1000
# Map speed 0-100% to 5-10% duty cycle MAX_PULSE = 1500
duty = 5 + (speed_percent / 100) * 5
return duty # Initialize at 1200 µs
INIT_PULSE = 1200
servo1.ChangeDutyCycle(pulse_to_duty(INIT_PULSE))
servo2.ChangeDutyCycle(pulse_to_duty(INIT_PULSE))
# ---------------------------- # ----------------------------
# Main loop # Main loop
@@ -48,32 +50,23 @@ def speed_to_duty(speed_percent):
try: try:
while True: while True:
if GPIO.input(SHUTDOWN_BTN) == GPIO.HIGH: if GPIO.input(SHUTDOWN_BTN) == GPIO.HIGH:
print("Shutting down...")
os.system("sudo shutdown now") os.system("sudo shutdown now")
# Motor 1 # Motor 1
if GPIO.input(BUTTON1_FWD) == GPIO.HIGH: if GPIO.input(BUTTON1_FWD) == GPIO.HIGH:
servo1.ChangeDutyCycle(speed_to_duty(speed)) servo1.ChangeDutyCycle(pulse_to_duty(MAX_PULSE))
print("Pressed.")
elif GPIO.input(BUTTON1_BWD) == GPIO.HIGH: elif GPIO.input(BUTTON1_BWD) == GPIO.HIGH:
servo1.ChangeDutyCycle(speed_to_duty(100 - speed)) # backward servo1.ChangeDutyCycle(pulse_to_duty(MIN_PULSE))
print("Pressed.")
else: else:
servo1.ChangeDutyCycle(0) # stop servo1.ChangeDutyCycle(pulse_to_duty(STOP_PULSE))
# Motor 2 # Motor 2
if GPIO.input(BUTTON2_FWD) == GPIO.HIGH: if GPIO.input(BUTTON2_FWD) == GPIO.HIGH:
servo2.ChangeDutyCycle(speed_to_duty(speed)) servo2.ChangeDutyCycle(pulse_to_duty(MAX_PULSE))
print("Pressed.")
elif GPIO.input(BUTTON2_BWD) == GPIO.HIGH: elif GPIO.input(BUTTON2_BWD) == GPIO.HIGH:
servo2.ChangeDutyCycle(speed_to_duty(100 - speed)) # backward servo2.ChangeDutyCycle(pulse_to_duty(MIN_PULSE))
print("Pressed.")
else: else:
servo2.ChangeDutyCycle(0) # stop servo2.ChangeDutyCycle(pulse_to_duty(STOP_PULSE))
time.sleep(0.05) time.sleep(0.05)
@@ -84,4 +77,3 @@ finally:
servo1.stop() servo1.stop()
servo2.stop() servo2.stop()
GPIO.cleanup() GPIO.cleanup()