PRE2017 3 11 Python Code: Difference between revisions
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(Created page with '<source lang="python" line='line'> import RPi.GPIO as GPIO # GPIO pin control import time # Posibility to delay GPIO.setmode(GPIO.BOARD) # Board numbering …') |
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< | <pre> | ||
import RPi.GPIO as GPIO # GPIO pin control | import RPi.GPIO as GPIO # GPIO pin control | ||
import time # Posibility to delay | import time # Posibility to delay | ||
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mServo1.ChangeDutyCycle(mcenter) # Lock closes | mServo1.ChangeDutyCycle(mcenter) # Lock closes | ||
</ | </pre> | ||
Revision as of 15:40, 16 March 2018
import RPi.GPIO as GPIO # GPIO pin control
import time # Posibility to delay
GPIO.setmode(GPIO.BOARD) # Board numbering sceme
pin_cServo1 = 29 # Continuous servo 1
pin_cServo2 = 33 # Continuous servo 2
pin_cServo3 = 37 # Continuous servo 3
pin_mServo1 = 13 # Mini servo 1
# Sets pin as output.
GPIO.setup(cServo1,GPIO.OUT)
GPIO.setup(cServo2,GPIO.OUT)
GPIO.setup(cServo3,GPIO.OUT)
GPIO.setup(mServo1,GPIO.OUT)
freq = 100 # Servo frequency [Hz]
# Assigns frequency to pins
cServo1 = GPIO.PWM(pin_cServo1, freq)
cServo2 = GPIO.PWM(pin_cServo2, freq)
cServo3 = GPIO.PWM(pin_cServo3, freq)
mServo1 = GPIO.PWM(pin_mServo1, freq)
cleft = 5 # 100% velocity to left
ccenter = 7.5 # no movement
cright = 10 # 100% velocity to right
mleft = 5 # 90 degrees left
mcenter = 7.5 # center
mright = 10 # 90 degrees right
cyldelay = 2 # Time it takes for cylinder to rotate
dropdelay = 15 # Time it takes to drop package
platformdelay = 2 # Time it takes for platform to move down
lockdelay = 20 # Time lock stays opened
# Sets all servos still at centered position
cServo1.start(ccenter)
cServo2.start(ccenter)
cServo3.start(ccenter)
mServo1.start(mcenter)
if i=true:
cServo1.ChangeDutyCycle(cleft) # Inner cylinder opens
cServo2.ChangeDutyCycle(cright) # Outer cylinder moves away
time.delay(cyldelay) # Duration of cylinder movement
cServo1.ChangeDutyCycle(ccenter) # Inner Cylinder stops moving
cServo2.ChangeDutyCycle(ccenter) # Outer Cylinder stops moving
time.delay(dropdelay) # Duration of package dropping
cServo1.ChangeDutyCycle(cright) # Inner cylinder closes
cServo2.ChangeDutyCycle(cleft) # Outer cylinder moves back
time.delay(cyldelay) # Duration of cylinder movement
cServo1.ChangeDutyCycle(ccenter)
cServo2.ChangeDutyCycle(ccenter)
cServo3.ChangeDutyCycle(cleft) # Platform moves down
time.delay(platformdelay) # Duration of platform moving down
cServo3.ChangeDutyCycle(ccenter) # Platform stops moving
if j=true:
mServo1.ChangeDutyCycle(mleft) # Lock opens
time.delay(lockdelay)
mServo1.ChangeDutyCycle(mcenter) # Lock closes