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トップに関する質問プログラムの修正を行いたい

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1

プログラムを変更しました。

2020/10/16 07:26

投稿

1617028s
1617028s

スコア5

test CHANGED
File without changes
test CHANGED
@@ -10,6 +10,194 @@
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  ```Python
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+ import smbus
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+
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+ import RPi.GPIO as GPIO
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+
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+ from time import sleep
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+
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+ import math
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+
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+ import atexit
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+
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+ import sys
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+
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+ import datetime
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+
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+ import time
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+
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+ import touchphat
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+
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+ @touchphat.on_touch("Enter")
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+
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+ def start_stop():
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+
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+ global start
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+
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+ global stopped
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+
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+ global runtime
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+
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+ if stopped:
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+
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+ start = motor.start()
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+
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+ stopped = False
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+ else:
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+ stopped = True
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+ runtime += (time.time() - start)
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+
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+
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+
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+ @touchphat.on_touch("Back")
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+
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+ def reset():
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+
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+ global runtime
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+ runtime = 0
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+
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+
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+
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+ blanks = " " * 25 + "\r"
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+
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+
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+
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+ class motorDrive:
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+
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+ in1 = 8
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+
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+ in2 = 11
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+
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+ en = 24
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+
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+ temp1 = 1
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+
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+ lastState = 'LOW'
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+ GPIO.setmode(GPIO.BCM)
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+
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+ GPIO.setup(in1, GPIO.OUT)
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+ GPIO.setup(in2, GPIO.OUT)
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+ GPIO.setup(en, GPIO.OUT)
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+ GPIO.output(in1, GPIO.LOW)
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+ GPIO.output(in2, GPIO.LOW)
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+ p = GPIO.PWM(en, 1000)
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+ p.start(55)
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+
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+
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+ directionState = 'forward'
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+ # #print("\n")
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+ # #print("The default speed & direction of motor is LOW & Forward.....")
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+
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+ # #print("r-run s-stop f-forward b-backward l-low m-medium h-high e-exit")
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+
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+ # #print("\n")
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+
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+
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+ def start(self):
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+
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+
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+ GPIO.output(self.in1, GPIO.HIGH)
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+ GPIO.output(self.in2, GPIO.LOW)
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+
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+ self.directionState = 'forward'
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+
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+ #print("MOTOR STARTING")
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+
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+
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+
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+ def setPower(self, power):
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+
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+ if self.lastState == power:
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+
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+ return
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+
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+ if power == 'LOW':
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+
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+ self.p.ChangeDutyCycle(30)
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+
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+ elif power == 'MEDIUM':
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+
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+ self.p.ChangeDutyCycle(50)
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+
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+ elif power == 'HIGH':
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+ self.p.ChangeDutyCycle(90)
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+
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+
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+
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+ #print("PWR CHANGED ", self.lastState, " TO ", power)
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+ self.lastState = power
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+
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+
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+
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+ def setDirection(self, direction):
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+
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+ if self.directionState == direction:
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+
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+ return
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+
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+ if direction == "forward":
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+
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+ GPIO.output(self.in1, GPIO.HIGH)
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+
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+ GPIO.output(self.in2, GPIO.LOW)
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+
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+ self.setPower('LOW')
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+
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+ else:
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+
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+ GPIO.output(self.in1, GPIO.LOW)
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+
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+ GPIO.output(self.in2, GPIO.LOW)
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+
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+ #print("DIRECTION CHANGED ", self.directionState, " TO ", direction)
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+
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+ self.directionState = direction
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+
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+
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+
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+ def stop(self):
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+
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+ GPIO.output(self.in1,GPIO.LOW)
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+
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+ GPIO.output(self.in2,GPIO.LOW)
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+
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+ #print("MOTOR stopING")
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+
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+
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+
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+
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+
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+ def clean(self):
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+
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+ self.stop()
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+
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+ GPIO.cleanup()
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+
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+ #print('GPIO cleanup')
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+
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+
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+
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+
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+
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  try:
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  while True:
@@ -46,7 +234,7 @@
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  accel_data = mpu.get_accel_data()
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- #x_angle = util.get_x_rotation(accel_data['x'], accel_data['y'], accel_data['z'])
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+
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  y_angle = util.get_y_rotation(accel_data['x'], accel_data['y'], accel_data['z'])
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@@ -70,7 +258,51 @@
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  motor.setPower("MEDIUM")
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-
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+ time.sleep(5)
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+
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+ finally:
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+
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+ sys.stdout.close()
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+
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+ motor.clean()
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+
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+ time.sleep(0.5)
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+
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+
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+
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+ atexit.register(exitHandler)
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+
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+
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  ```
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