質問編集履歴
1
プログラムを変更しました。
title
CHANGED
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File without changes
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body
CHANGED
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@@ -4,6 +4,100 @@
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4
4
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sys.stdout.write("Timer running: %i seconds\r" % (runtime + (motor.start() - start)))
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5
5
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TypeError: unsupported operand type(s) for -: 'NoneType' and 'NoneType'
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6
6
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```Python
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7
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import smbus
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8
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import RPi.GPIO as GPIO
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9
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from time import sleep
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10
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import math
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11
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import atexit
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12
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import sys
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13
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import datetime
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14
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import time
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15
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import touchphat
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16
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@touchphat.on_touch("Enter")
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17
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def start_stop():
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18
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global start
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19
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global stopped
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20
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global runtime
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21
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if stopped:
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22
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start = motor.start()
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23
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stopped = False
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24
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else:
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25
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stopped = True
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26
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runtime += (time.time() - start)
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27
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28
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@touchphat.on_touch("Back")
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29
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def reset():
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30
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global runtime
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31
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runtime = 0
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32
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33
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blanks = " " * 25 + "\r"
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34
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35
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class motorDrive:
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36
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in1 = 8
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37
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in2 = 11
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38
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en = 24
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39
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temp1 = 1
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40
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lastState = 'LOW'
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41
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GPIO.setmode(GPIO.BCM)
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42
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GPIO.setup(in1, GPIO.OUT)
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43
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GPIO.setup(in2, GPIO.OUT)
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44
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GPIO.setup(en, GPIO.OUT)
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45
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GPIO.output(in1, GPIO.LOW)
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46
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GPIO.output(in2, GPIO.LOW)
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47
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p = GPIO.PWM(en, 1000)
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48
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p.start(55)
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49
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50
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directionState = 'forward'
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51
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# #print("\n")
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52
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# #print("The default speed & direction of motor is LOW & Forward.....")
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53
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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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54
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# #print("\n")
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55
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56
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def start(self):
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57
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58
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GPIO.output(self.in1, GPIO.HIGH)
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59
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GPIO.output(self.in2, GPIO.LOW)
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60
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self.directionState = 'forward'
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61
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#print("MOTOR STARTING")
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62
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63
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def setPower(self, power):
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64
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if self.lastState == power:
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65
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return
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66
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if power == 'LOW':
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67
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self.p.ChangeDutyCycle(30)
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68
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elif power == 'MEDIUM':
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69
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self.p.ChangeDutyCycle(50)
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70
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elif power == 'HIGH':
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71
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self.p.ChangeDutyCycle(90)
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72
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73
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#print("PWR CHANGED ", self.lastState, " TO ", power)
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74
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self.lastState = power
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75
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76
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def setDirection(self, direction):
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77
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if self.directionState == direction:
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78
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return
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79
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if direction == "forward":
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80
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GPIO.output(self.in1, GPIO.HIGH)
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81
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GPIO.output(self.in2, GPIO.LOW)
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82
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self.setPower('LOW')
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83
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else:
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84
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GPIO.output(self.in1, GPIO.LOW)
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85
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GPIO.output(self.in2, GPIO.LOW)
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86
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#print("DIRECTION CHANGED ", self.directionState, " TO ", direction)
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87
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self.directionState = direction
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88
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89
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def stop(self):
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90
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GPIO.output(self.in1,GPIO.LOW)
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91
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GPIO.output(self.in2,GPIO.LOW)
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92
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#print("MOTOR stopING")
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93
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94
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95
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def clean(self):
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96
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self.stop()
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97
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GPIO.cleanup()
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98
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#print('GPIO cleanup')
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99
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100
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7
101
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try:
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8
102
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while True:
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9
103
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if stopped and runtime > 0:
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@@ -22,7 +116,7 @@
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22
116
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sys.stdout.flush()
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23
117
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24
118
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accel_data = mpu.get_accel_data()
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25
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-
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119
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+
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26
120
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y_angle = util.get_y_rotation(accel_data['x'], accel_data['y'], accel_data['z'])
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27
121
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28
122
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if y_angle < normalMin:
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@@ -34,7 +128,29 @@
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34
128
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motor.setPower("HIGH")
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35
129
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elif y_angle >= highMin:
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36
130
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motor.setPower("MEDIUM")
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37
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-
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131
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+
time.sleep(5)
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132
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finally:
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133
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sys.stdout.close()
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134
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motor.clean()
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135
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time.sleep(0.5)
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136
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+
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137
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atexit.register(exitHandler)
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138
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+
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139
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+
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140
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+
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141
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+
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142
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+
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143
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+
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144
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+
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145
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+
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146
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+
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147
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+
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148
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+
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149
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+
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150
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+
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151
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+
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152
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+
|
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153
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+
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38
154
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```
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39
155
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40
156
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