Freenove Scripts-Beispiele durchsuchen

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Fahrzeug soll sich bewegen können

Link zur Projektseite Link zum Beispiel-Repo Modell Name: Freenove 4WD Smart Car Kit

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Beispiel Motorsteuerung

import RPi.GPIO as GPIO import smbus import time

address = 0x48 bus=smbus.SMBus(1) cmd=0x40

define the pin connected to L293D

motoRPin1 = 13 motoRPin2 = 11 enablePin = 15

def analogRead(chn): value = bus.read_byte_data(address,cmd+chn) return value

def analogWrite(value): bus.write_byte_data(address,cmd,value)

def setup(): global p GPIO.setmode(GPIO.BOARD) # set mode for pin GPIO.setup(motoRPin1,GPIO.OUT) GPIO.setup(motoRPin2,GPIO.OUT) GPIO.setup(enablePin,GPIO.OUT)

p = GPIO.PWM(enablePin,1000)# creat PWM
p.start(0)

mapNUM function: map the value from a range of mapping to another range.

def mapNUM(value,fromLow,fromHigh,toLow,toHigh): return (toHigh-toLow)*(value-fromLow) / (fromHigh-fromLow) + toLow

motor function: determine the direction and speed of the motor according to the ADC value to be input.

def motor(ADC): value = ADC -128 if (value > 0): GPIO.output(motoRPin1,GPIO.HIGH) GPIO.output(motoRPin2,GPIO.LOW) print ('Turn Forward...') elif (value < 0): GPIO.output(motoRPin1,GPIO.LOW) GPIO.output(motoRPin2,GPIO.HIGH) print ('Turn Backward...') else : GPIO.output(motoRPin1,GPIO.LOW) GPIO.output(motoRPin2,GPIO.LOW) print ('Motor Stop...') p.start(mapNUM(abs(value),0,128,0,100)) print ('The PWM duty cycle is %d%%\n'%(abs(value)*100/127)) #print PMW duty cycle.

def loop(): while True: value = analogRead(0) print ('ADC Value : %d'%(value)) motor(value) time.sleep(0.01)

def destroy(): bus.close() GPIO.cleanup()

if name == 'main': print ('Program is starting ... ') setup() try: loop() except KeyboardInterrupt: destroy()

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https://github.com/Freenove/Freenove_Ultimate_Starter_Kit_for_Raspberry_Pi/blob/master/Code/Python_Code/13.1.1_Motor/Motor.py

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