ADEEPT AWR Wheeled Robot Manual page 77

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def setup(): # GPIO initialization, GPIO motor cannot be controlled without initialization
global pwm_A, pwm_B
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(Motor_A_EN, GPIO.OUT)
GPIO.setup(Motor_B_EN, GPIO.OUT)
GPIO.setup(Motor_A_Pin1, GPIO.OUT)
GPIO.setup(Motor_A_Pin2, GPIO.OUT)
GPIO.setup(Motor_B_Pin1, GPIO.OUT)
GPIO.setup(Motor_B_Pin2, GPIO.OUT)
motorStop() # Avoid motor starting to rotate automatically after initialization
try: # Try is used here to avoid errors due to repeated PWM settings
pwm_A = GPIO.PWM(Motor_A_EN, 1000)
pwm_B = GPIO.PWM(Motor_B_EN, 1000)
except:
pass
def motor_A(direction, speed): #
if direction == 1:
GPIO.output(Motor_A_Pin1, GPIO.HIGH)
GPIO.output(Motor_A_Pin2, GPIO.LOW)
pwm_A.start(100)
pwm_A.ChangeDutyCycle(speed)
if direction == -1:
GPIO.output(Motor_A_Pin1, GPIO.LOW)
GPIO.output(Motor_A_Pin2, GPIO.HIGH)
pwm_A.start(100)
pwm_A.ChangeDutyCycle(speed)
def motor_B(direction, speed):
if direction == 1:
GPIO.output(Motor_B_Pin1, GPIO.HIGH)
GPIO.output(Motor_B_Pin2, GPIO.LOW)
pwm_B.start(100)
pwm_B.ChangeDutyCycle(speed)
if direction == -1:
GPIO.output(Motor_B_Pin1, GPIO.LOW)
GPIO.output(Motor_B_Pin2, GPIO.HIGH)
pwm_B.start(100)
pwm_B.ChangeDutyCycle(speed)
'''
The function used to control the motor of port A
# The function used to control the motor of port B