62 lines
1.1 KiB
Python
62 lines
1.1 KiB
Python
import pigpio
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import RPi.GPIO as GPIO
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import time
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import os
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from motor import Motor # Models the motor
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# Constants
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SERVO1_PIN = 18
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SERVO2_PIN = 19
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BUTTON1_FWD = 5
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BUTTON1_BWD = 6
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BUTTON2_FWD = 17
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BUTTON2_BWD = 27
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SHUTDOWN_BTN = 26
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STEP = 2
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LOOP_DELAY = 0.3 # In seconds
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# Local pi
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pi = pigpio.pi()
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if not pi:
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os.exit()
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# Setup the controls
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GPIO.setmode(GPIO.BCM)
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for btn in [BUTTON1_FWD, BUTTON1_BWD, BUTTON2_FWD, BUTTON2_BWD, SHUTDOWN_BTN]:
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GPIO.setup(btn, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
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# Setup motors
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m1 = Motor(pi, SERVO1_PIN)
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m2 = Motor(pi, SERVO2_PIN)
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# Main
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try:
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while True:
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# Inputs shutdown
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if GPIO.input(SHUTDOWN_BTN) == GPIO.HIGH:
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os.system("sudo shutdown now")
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# Motors
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if GPIO.input(BUTTON1_FWD):
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m1.inc(STEP)
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elif GPIO.input(BUTTON1_BWD):
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m1.inc(-STEP)
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if GPIO.input(BUTTON2_FWD):
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m2.inc(STEP)
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elif GPIO.input(BUTTON2_BWD):
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m2.inc(-STEP)
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time.sleep(LOOP_DELAY)
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except KeyboardInterrupt:
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pass
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finally:
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del m1
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del m2
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pi.stop()
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GPIO.cleanup()
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