Final

motor.py

@@ -2,55 +2,47 @@ import RPi.GPIO as GPIO
 import time
 import os
 
+# Use the fat numberings
 GPIO.setmode(GPIO.BCM)
 
-# Servo pins
+# Constants
-SERVO1_PIN = 19
+SERVO1_PIN = 18
-SERVO2_PIN = 18
+SERVO2_PIN = 19
+BUTTON1_FWD = 5   # Motor1
+BUTTON1_BWD = 6
+BUTTON2_FWD = 17  # Motor2
+BUTTON2_BWD = 27
+SHUTDOWN_BTN = 26 # Shutdown rpi
 
-# Buttons
+# Setup pins
-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
 for button in [BUTTON1_FWD, BUTTON1_BWD, BUTTON2_FWD, BUTTON2_BWD, SHUTDOWN_BTN]:
     GPIO.setup(button, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
-
-# Setup servo pins
 GPIO.setup(SERVO1_PIN, GPIO.OUT)
 GPIO.setup(SERVO2_PIN, GPIO.OUT)
 
-servo1 = GPIO.PWM(SERVO1_PIN, 50)  # 50Hz
+servo1 = GPIO.PWM(SERVO1_PIN, 50)
 servo2 = GPIO.PWM(SERVO2_PIN, 50)
 servo1.start(0)
 servo2.start(0)
 
-# ----------------------------
+# Adjust this for maximum range
-# Helpers
-# ----------------------------
 def pulse_to_duty(pulse_us):
-    return (pulse_us / 20000.0) * 100.0  # 20ms period → duty %
+    return (pulse_us / 20000.0) * 100.0
 
 # Pulse limits
 MIN_PULSE = 1000
-MAX_PULSE = 1500
+MAX_PULSE = 2000
-INIT_PULSE = 1200
+INIT_PULSE = 1500
-STEP = 10  # how much to change per press (µs)
+STEP = 10 # Adjust smoothness
-
+SLEEP = 0.005
-# Speed variables
-pulse1 = INIT_PULSE
-pulse2 = INIT_PULSE
 
 # Initialize servos
+pulse1 = INIT_PULSE
+pulse2 = INIT_PULSE
 servo1.ChangeDutyCycle(pulse_to_duty(pulse1))
 servo2.ChangeDutyCycle(pulse_to_duty(pulse2))
 
-# ----------------------------
 # Main loop
-# ----------------------------
 try:
     while True:
         if GPIO.input(SHUTDOWN_BTN) == GPIO.HIGH:
@@ -70,7 +62,7 @@ try:
             pulse2 = max(MIN_PULSE, pulse2 - STEP)
         servo2.ChangeDutyCycle(pulse_to_duty(pulse2))
 
-        time.sleep(0.05)
+        time.sleep(SLEEP)
 
 except KeyboardInterrupt:
     pass