Testing speed

motor.py

@@ -9,13 +9,13 @@ SERVO1_PIN = 19
 SERVO2_PIN = 18
 
 # Buttons
-BUTTON1_FWD = 5   # Motor1 forward
-BUTTON1_BWD = 6   # Motor1 backward
-BUTTON2_FWD = 17  # Motor2 forward
-BUTTON2_BWD = 27  # Motor2 backward
+BUTTON1_FWD = 5   # Motor1 increase speed
+BUTTON1_BWD = 6   # Motor1 decrease speed
+BUTTON2_FWD = 17  # Motor2 increase speed
+BUTTON2_BWD = 27  # Motor2 decrease speed
 SHUTDOWN_BTN = 26 # Shutdown button
 
-# Setup buttons (pulled down, pressed = HIGH)
+# Setup buttons
 for button in [BUTTON1_FWD, BUTTON1_BWD, BUTTON2_FWD, BUTTON2_BWD, SHUTDOWN_BTN]:
     GPIO.setup(button, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
 
@@ -35,14 +35,18 @@ def pulse_to_duty(pulse_us):
     return (pulse_us / 20000.0) * 100.0  # 20ms period → duty %
 
 # Pulse limits
-STOP_PULSE = 1500
 MIN_PULSE = 1000
 MAX_PULSE = 1500
-
-# Initialize at 1200 µs
 INIT_PULSE = 1200
-servo1.ChangeDutyCycle(pulse_to_duty(INIT_PULSE))
-servo2.ChangeDutyCycle(pulse_to_duty(INIT_PULSE))
+STEP = 10  # how much to change per press (µs)
+
+# Speed variables
+pulse1 = INIT_PULSE
+pulse2 = INIT_PULSE
+
+# Initialize servos
+servo1.ChangeDutyCycle(pulse_to_duty(pulse1))
+servo2.ChangeDutyCycle(pulse_to_duty(pulse2))
 
 # ----------------------------
 # Main loop
@@ -54,19 +58,17 @@ try:
 
         # Motor 1
         if GPIO.input(BUTTON1_FWD) == GPIO.HIGH:
-            servo1.ChangeDutyCycle(pulse_to_duty(MAX_PULSE))
+            pulse1 = min(MAX_PULSE, pulse1 + STEP)
         elif GPIO.input(BUTTON1_BWD) == GPIO.HIGH:
-            servo1.ChangeDutyCycle(pulse_to_duty(MIN_PULSE))
-        else:
-            servo1.ChangeDutyCycle(pulse_to_duty(STOP_PULSE))
+            pulse1 = max(MIN_PULSE, pulse1 - STEP)
+        servo1.ChangeDutyCycle(pulse_to_duty(pulse1))
 
         # Motor 2
         if GPIO.input(BUTTON2_FWD) == GPIO.HIGH:
-            servo2.ChangeDutyCycle(pulse_to_duty(MAX_PULSE))
+            pulse2 = min(MAX_PULSE, pulse2 + STEP)
         elif GPIO.input(BUTTON2_BWD) == GPIO.HIGH:
-            servo2.ChangeDutyCycle(pulse_to_duty(MIN_PULSE))
-        else:
-            servo2.ChangeDutyCycle(pulse_to_duty(STOP_PULSE))
+            pulse2 = max(MIN_PULSE, pulse2 - STEP)
+        servo2.ChangeDutyCycle(pulse_to_duty(pulse2))
 
         time.sleep(0.05)