80 lines
2.0 KiB
Python
80 lines
2.0 KiB
Python
import RPi.GPIO as GPIO
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import time
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import os
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GPIO.setmode(GPIO.BCM)
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# Servo pins
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SERVO1_PIN = 19
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SERVO2_PIN = 18
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# Buttons
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BUTTON1_FWD = 5 # Motor1 forward
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BUTTON1_BWD = 6 # Motor1 backward
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BUTTON2_FWD = 17 # Motor2 forward
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BUTTON2_BWD = 27 # Motor2 backward
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SHUTDOWN_BTN = 26 # Shutdown button
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# Setup buttons (pulled down, pressed = HIGH)
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for button in [BUTTON1_FWD, BUTTON1_BWD, BUTTON2_FWD, BUTTON2_BWD, SHUTDOWN_BTN]:
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GPIO.setup(button, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
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# Setup servo pins
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GPIO.setup(SERVO1_PIN, GPIO.OUT)
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GPIO.setup(SERVO2_PIN, GPIO.OUT)
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servo1 = GPIO.PWM(SERVO1_PIN, 50) # 50Hz
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servo2 = GPIO.PWM(SERVO2_PIN, 50)
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servo1.start(0)
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servo2.start(0)
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# ----------------------------
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# Helpers
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# ----------------------------
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def pulse_to_duty(pulse_us):
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return (pulse_us / 20000.0) * 100.0 # 20ms period → duty %
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# Pulse limits
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STOP_PULSE = 1500
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MIN_PULSE = 1000
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MAX_PULSE = 1500
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# Initialize at 1200 µs
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INIT_PULSE = 1200
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servo1.ChangeDutyCycle(pulse_to_duty(INIT_PULSE))
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servo2.ChangeDutyCycle(pulse_to_duty(INIT_PULSE))
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# ----------------------------
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# Main loop
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# ----------------------------
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try:
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while True:
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if GPIO.input(SHUTDOWN_BTN) == GPIO.HIGH:
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os.system("sudo shutdown now")
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# Motor 1
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if GPIO.input(BUTTON1_FWD) == GPIO.HIGH:
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servo1.ChangeDutyCycle(pulse_to_duty(MAX_PULSE))
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elif GPIO.input(BUTTON1_BWD) == GPIO.HIGH:
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servo1.ChangeDutyCycle(pulse_to_duty(MIN_PULSE))
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else:
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servo1.ChangeDutyCycle(pulse_to_duty(STOP_PULSE))
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# Motor 2
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if GPIO.input(BUTTON2_FWD) == GPIO.HIGH:
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servo2.ChangeDutyCycle(pulse_to_duty(MAX_PULSE))
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elif GPIO.input(BUTTON2_BWD) == GPIO.HIGH:
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servo2.ChangeDutyCycle(pulse_to_duty(MIN_PULSE))
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else:
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servo2.ChangeDutyCycle(pulse_to_duty(STOP_PULSE))
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time.sleep(0.05)
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except KeyboardInterrupt:
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pass
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finally:
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servo1.stop()
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servo2.stop()
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GPIO.cleanup()
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