Make a Raspberry Pi-Controlled Robot by Wolfram Donat

Author:Wolfram Donat
Language: eng
Format: epub, mobi
Tags: TECHNOLOGY & ENGINEERING / Robotics
ISBN: 9781457185984
Publisher: Maker Media, Inc
Published: 2014-11-12T16:00:00+00:00

With the drive wheels elevated, start a new Python script called motortest.py:

import RPi.GPIO as GPIO import time GPIO.setwarnings(False) GPIO.setmode(GPIO.BOARD) #19 = IN1 #21 = ENA #23 = IN2 GPIO.setup(19, GPIO.OUT) GPIO.setup(21, GPIO.OUT) GPIO.setup(23, GPIO.OUT) #22 = IN3 #24 = ENB #26 = IN4 GPIO.setup(22, GPIO.OUT) GPIO.setup(24, GPIO.OUT) GPIO.setup(26, GPIO.OUT) def rForward(): "R motor forward" GPIO.output(21, 1) GPIO.output(19, 0) GPIO.output(23, 1) def lForward(): "L motor forward" GPIO.output(24, 1) GPIO.output(22, 0) GPIO.output(26, 1) def rBackward(): "R motor backward" GPIO.output(21, 1) GPIO.output(19, 1) GPIO.output(23, 0) def LBackward(): "L motor backward" GPIO.output(24, 1) GPIO.output(22, 1) GPIO.output(26, 0) def allStop(): GPIO.output(21, 0) GPIO.output(24, 0) rForward() lForward() time.sleep(2) allStop() time.sleep(0.5) rBackward() lBackward() time.sleep(2) allStop()

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