keyboard funtion for 4wd, 4 dc motor /wheels

Keyboard!! W,A,S,D,Q,E

@@ -0,0 +1,357 @@
+#!/usr/bin/python
+# Library for PiMotor Shield V2
+# Developed by: SB Components
+# Project: RPi Motor Shield 4wd car by STRIX :)(Dan Harding)
+
+import RPi.GPIO as GPIO                        #Import GPIO library
+import time
+from time import sleep
+
+GPIO.setmode(GPIO.BOARD)                       #Set GPIO pin numbering
+GPIO.setwarnings(False)
+
+class Motor:
+
+
+
+    ''' Class to handle interaction with the motor pins
+    Supports redefinition of "forward" and "backward" depending on how motors are connected
+    Use the supplied Motorshieldtest module to test the correct configuration for your project.
+
+    Arguments:
+
+    motor = string motor pin label (i.e. "MOTOR1","MOTOR2","MOTOR3","MOTOR4") identifying the pins to which
+
+            the motor is connected.
+
+    config = int defining which pins control "forward" and "backward" movement.
+
+    '''
+
+    motorpins = {"MOTOR4":{"config":{1:{"e":32,"f":24,"r":26},2:{"e":32,"f":26,"r":24}},"arrow":1},
+                 "MOTOR3":{"config":{1:{"e":19,"f":21,"r":23},2:{"e":19,"f":23,"r":21}}, "arrow":2},
+                 "MOTOR2":{"config":{1:{"e":22,"f":16,"r":18},2:{"e":22,"f":18,"r":16}}, "arrow":3},
+                 "MOTOR1":{"config":{1:{"e":11,"f":15,"r":13},2:{"e":11,"f":13,"r":15}},"arrow":4}}
+
+
+    def __init__(self, motor, config):
+
+
+        self.testMode = False
+        self.arrow = Arrow(self.motorpins[motor]["arrow"])
+        self.pins = self.motorpins[motor]["config"][config]
+        GPIO.setup(self.pins['e'],GPIO.OUT)
+        GPIO.setup(self.pins['f'],GPIO.OUT)
+        GPIO.setup(self.pins['r'],GPIO.OUT)
+        self.PWM = GPIO.PWM(self.pins['e'], 50)  # 50Hz frequency
+        self.PWM.start(0)
+        GPIO.output(self.pins['e'],GPIO.HIGH)
+        GPIO.output(self.pins['f'],GPIO.LOW)
+        GPIO.output(self.pins['r'],GPIO.LOW)
+
+    def test(self, state):
+
+
+
+        ''' Puts the motor into test mode
+        When in test mode the Arrow associated with the motor receives power on "forward"
+        rather than the motor. Useful when testing your code. 
+
+        Arguments:
+
+        state = boolean
+
+        '''
+
+        self.testMode = state
+
+
+    def forward(self, speed):
+
+
+
+        ''' Starts the motor turning in its configured "forward" direction.
+        Arguments:
+        speed = Duty Cycle Percentage from 0 to 100.
+        0 - stop and 100 - maximum speed
+        '''    
+
+        print("Forward")
+        if self.testMode:
+            self.arrow.on()
+
+        else:
+            self.PWM.ChangeDutyCycle(speed)
+            GPIO.output(self.pins['f'],GPIO.HIGH)
+            GPIO.output(self.pins['r'],GPIO.LOW)
+
+    def reverse(self,speed):
+
+
+
+        ''' Starts the motor turning in its configured "reverse" direction.
+        Arguments:
+        speed = Duty Cycle Percentage from 0 to 100.
+        0 - stop and 100 - maximum speed
+     '''
+
+        print("Reverse")
+        if self.testMode:
+            self.arrow.off()
+        else:
+            self.PWM.ChangeDutyCycle(speed)
+            GPIO.output(self.pins['f'],GPIO.LOW)
+            GPIO.output(self.pins['r'],GPIO.HIGH)
+
+    def stop(self):
+
+        ''' Stops power to the motor,
+     '''
+        print("Stop")
+        self.arrow.off()
+        self.PWM.ChangeDutyCycle(0)
+        GPIO.output(self.pins['f'],GPIO.LOW)
+        GPIO.output(self.pins['r'],GPIO.LOW)
+
+    def speed(self):
+
+        ''' Control Speed of Motor,
+
+     '''
+class LinkedMotors:
+
+    ''' Links 2 or more motors together as a set.
+
+        This allows a single command to be used to control a linked set of motors
+
+        e.g. For a 4x wheel vehicle this allows a single command to make all 4 wheels go forward.
+
+        Starts the motor turning in its configured "forward" direction.
+
+        Arguments:
+
+        *motors = a list of Motor objects
+
+     '''
+
+    def __init__(self, *motors):
+
+        self.motor = []
+        for i in motors:
+            print(i.pins)
+            self.motor.append(i)
+
+    def forward(self,speed):
+
+        ''' Starts the motor turning in its configured "forward" direction.
+
+        Arguments:
+
+        speed = Duty Cycle Percentage from 0 to 100.
+
+        0 - stop and 100 - maximum speed 
+
+     '''
+
+        for i in range(len(self.motor)):
+            self.motor[i].forward(speed)
+
+    def reverse(self,speed):
+
+        ''' Starts the motor turning in its configured "reverse" direction.
+
+        Arguments:
+
+        speed = Duty Cycle Percentage from 0 to 100.
+
+        0 - stop and 100 - maximum speed
+
+     '''
+
+        for i in range(len(self.motor)):
+
+            self.motor[i].reverse(speed)
+
+    def stop(self):
+
+        ''' Stops power to the motor,
+
+     '''
+
+        for i in range(len(self.motor)):
+
+            self.motor[i].stop()
+
+class Arrow():
+
+    ''' Defines an object for controlling one of the LED arrows on the Motorshield.
+        Arguments:
+        which = integer label for each arrow. The arrow number if arbitrary starting with:
+
+            1 = Arrow closest to the Motorshield's power pins and running clockwise round the board
+            ...
+            4 = Arrow closest to the motor pins.
+
+    '''
+    arrowpins={1:33,2:35,3:37,4:36}
+
+
+    def __init__(self, which):
+        self.pin = self.arrowpins[which]
+        GPIO.setup(self.pin,GPIO.OUT)
+        GPIO.output(self.pin, GPIO.LOW)
+
+
+    def on(self):
+
+        GPIO.output(self.pin,GPIO.HIGH)
+
+    def off(self):
+
+        GPIO.output(self.pin,GPIO.LOW)
+
+import RPi.GPIO as GPIO # Import the GPIO Library
+import time # Import the Time library
+
+# Set the GPIO modes
+
+GPIO.setmode(GPIO.BOARD)
+GPIO.setwarnings(False)
+
+# Set variables for the GPIO motor pins
+
+motorpins = {"MOTOR4":{"config":{1:{"e":32,"f":24,"r":26},2:{"e":32,"f":26,"r":24}},"arrow":1},
+             "MOTOR3":{"config":{1:{"e":19,"f":21,"r":23},2:{"e":19,"f":23,"r":21}}, "arrow":2},
+             "MOTOR2":{"config":{1:{"e":22,"f":16,"r":18},2:{"e":22,"f":18,"r":16}}, "arrow":3},
+             "MOTOR1":{"config":{1:{"e":11,"f":15,"r":13},2:{"e":11,"f":13,"r":15}},"arrow":4}}
+
+#Name of Individual MOTORS 
+
+m1 = Motor("MOTOR1",1)
+m2 = Motor("MOTOR2",1)
+m3 = Motor("MOTOR3",1)
+m4 = Motor("MOTOR4",1)
+
+# Set the GPIO Pin mode
+
+def __init__(self, motor, config):
+        self.testMode = False
+        self.arrow = Arrow(self.motorpins[motor]["arrow"])
+        self.pins = self.motorpins[motor]["config"][config]
+        GPIO.setup(self.pins['e'],GPIO.OUT)
+        GPIO.setup(self.pins['f'],GPIO.OUT)
+        GPIO.setup(self.pins['r'],GPIO.OUT)
+        self.PWM = GPIO.PWM(self.pins['e'], 50)  # 50Hz frequency
+        self.PWM.start(0)
+        GPIO.output(self.pins['e'],GPIO.HIGH)
+        GPIO.output(self.pins['f'],GPIO.LOW)
+        GPIO.output(self.pins['r'],GPIO.LOW)
+def StartMotors():
+
+    m1.forward(50)
+    m2.forward(50)
+    m3.forward(50)
+    m4.forward(50)
+    time.sleep(0.1)
+
+def StopMotors():
+
+    m1.forward(0)
+    m2.forward(0)
+    m3.forward(0)
+    m4.forward(0)
+    time.sleep(0.1)
+
+def Forwards():
+
+    m1.forward(100)
+    m2.forward(100)
+    m3.forward(100)
+    m4.forward(100)
+    time.sleep(0.1)
+
+def Backwards():
+
+    m1.reverse(100)
+    m2.reverse(100)
+    m3.reverse(100)
+    m4.reverse(100)
+    time.sleep(0.1)
+
+def Left():
+
+    m1.reverse(100)
+    m2.reverse(100)
+    m3.forward(100)
+    m4.forward(100)
+    time.sleep(0.1)
+
+def Right():
+
+    m1.forward(100)
+    m2.forward(100)
+    m3.reverse(100)
+    m4.reverse(100)
+    time.sleep(0.1)
+
+import sys, termios, tty, os
+
+def getch():
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+
+    try:
+        tty.setraw(sys.stdin.fileno())
+        ch = sys.stdin.read(1)
+
+    finally:
+        termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
+    return ch
+
+PIN_LED = 29
+GPIO.setup(PIN_LED, GPIO.OUT)
+GPIO.output(PIN_LED, 0)
+button_delay = 0.1
+
+for x in range(0,3):
+
+    GPIO.output(PIN_LED, 1)
+    time.sleep(0.1)
+    GPIO.output(PIN_LED, 0)
+    time.sleep(0.1)
+
+while True:
+
+    char = getch()
+
+    if (char == "q"):
+        StopMotors()
+        exit(0)  
+
+    if (char == "e"):
+        StartMotors()
+        time.sleep(button_delay)
+
+    if (char == "a"):
+
+        print 'Left pressed'
+        Left()
+        time.sleep(button_delay)
+
+    if (char == "d"):
+
+        print 'Right pressed'
+        Right()
+        time.sleep(button_delay)          
+
+    elif (char == "w"):
+
+        print 'Up pressed' 
+        Forwards()       
+        time.sleep(button_delay)
+
+    elif (char == "s"):
+
+        print 'Down pressed'      
+        Backwards()
+        time.sleep(button_delay)