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MotorProgramv2.py
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MotorProgramv2.py
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import RPi.GPIO as GPIO
import time
import socket
import struct
import sys
ENA = 4
ENB = 27
IN1 = 17
IN2 = 18
IN3 = 22
IN4 = 23
motot1 = None
motor2 = None
s = None
previousTime = None
TIME_LIMIT = 1
INPUT_FORMAT = 'i i'
def setup():
global motor1
global motor2
GPIO.setmode(GPIO.BCM)
GPIO.setup(IN1, GPIO.OUT)
GPIO.setup(IN2, GPIO.OUT)
GPIO.setup(IN3, GPIO.OUT)
GPIO.setup(IN4, GPIO.OUT)
GPIO.setup(ENA, GPIO.OUT)
GPIO.setup(ENB, GPIO.OUT)
motor1 = GPIO.PWM(ENA, 2000)
motor2 = GPIO.PWM(ENB, 2000)
motor1.start(0)
motor2.start(0)
def moveForward():
global motor1
global motor2
GPIO.output(IN1, GPIO.HIGH)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.HIGH)
GPIO.output(IN4, GPIO.LOW)
motor1.start(80)
motor2.start(80)
def moveBackward():
global motor1
global motor2
GPIO.output(IN1, GPIO.LOW)
GPIO.output(IN2, GPIO.HIGH)
GPIO.output(IN3, GPIO.LOW)
GPIO.output(IN4, GPIO.HIGH)
motor1.start(80)
motor2.start(80)
def runMotors(leftPower, rightPower):
global motor1
global motor2
if (rightPower >= 0):
GPIO.output(IN1, GPIO.HIGH)
GPIO.output(IN2, GPIO.LOW)
motor1.start(abs(rightPower))
elif (rightPower < 0):
GPIO.output(IN1, GPIO.LOW)
GPIO.output(IN2, GPIO.HIGH)
motor1.start(abs(rightPower))
if (leftPower >= 0):
GPIO.output(IN3, GPIO.HIGH)
GPIO.output(IN4, GPIO.LOW)
motor2.start(abs(leftPower))
elif (leftPower < 0):
print('Backwards')
GPIO.output(IN3, GPIO.LOW)
GPIO.output(IN4, GPIO.HIGH)
motor2.start(abs(leftPower))
def connect():
global s
global previousTime
s = socket.socket()
hostname = "192.168.2.3"
port = 1234
print("Connecting...")
while(1):
try:
s.connect((hostname, port))
previousTime = time.time()
print('Connected')
break
except socket.error as e:
print('Cant connect')
s.close
except KeyboardInterrupt:
print("Program Ended")
s.close
sys.exit()
setup()
connect()
while(1):
try:
'''command = s.recv(1024)'''
unpackedCommand = s.recv(struct.calcsize(INPUT_FORMAT))
currentTime = time.time()
if ((currentTime - previousTime) > TIME_LIMIT):
print("Timeout error")
connect()
previousTime = currentTime
command = struct.unpack(INPUT_FORMAT, unpackedCommand)
print(command)
leftPower = command[0]
rightPower = command[1]
runMotors(leftPower, rightPower)
except KeyboardInterrupt:
print("Program Ended")
GPIO.cleanup()
s.close
break
except socket.error:
print("Lost Connection")
s.close
runMotors(0, 0)
connect()
except:
print("Program Error")
s.close
runMotors(0, 0)
connect()