From 0c8c9ad976879f7c90f9915a60845ccb0cdb337d Mon Sep 17 00:00:00 2001
From: manuel <manuel@mausz.at>
Date: Wed, 25 Dec 2013 13:25:16 +0100
Subject: initial commit

---
 examples/magpi-9-cambot2/cambot.py | 117 +++++++++++++++++++++++++++++++++++++
 1 file changed, 117 insertions(+)
 create mode 100644 examples/magpi-9-cambot2/cambot.py

(limited to 'examples/magpi-9-cambot2/cambot.py')

diff --git a/examples/magpi-9-cambot2/cambot.py b/examples/magpi-9-cambot2/cambot.py
new file mode 100644
index 0000000..f1013ab
--- /dev/null
+++ b/examples/magpi-9-cambot2/cambot.py
@@ -0,0 +1,117 @@
+# This version uses new-style automatic setup/destroy/mapping
+# Need to change /etc/webiopi
+
+# Imports
+import webiopi
+
+# Retrieve GPIO lib
+GPIO = webiopi.GPIO
+
+# -------------------------------------------------- #
+# Constants definition                               #
+# -------------------------------------------------- #
+
+# Left motor GPIOs
+L1=17 # H-Bridge 1
+L2=18 # H-Bridge 2
+LS=21 # H-Bridge 1,2EN
+
+# Right motor GPIOs
+R1=23 # H-Bridge 3
+R2=24 # H-Bridge 4
+RS=25 # H-Bridge 3,4EN
+
+# -------------------------------------------------- #
+# Convenient PWM Function                            #
+# -------------------------------------------------- #
+
+# Set the speed of two motors
+def set_speed(speed):
+    GPIO.pulseRatio(LS, speed)
+    GPIO.pulseRatio(RS, speed)
+
+# -------------------------------------------------- #
+# Left Motor Functions                               #
+# -------------------------------------------------- #
+
+def left_stop():
+    GPIO.output(L1, GPIO.LOW)
+    GPIO.output(L2, GPIO.LOW)
+
+def left_forward():
+    GPIO.output(L1, GPIO.HIGH)
+    GPIO.output(L2, GPIO.LOW)
+
+def left_backward():
+    GPIO.output(L1, GPIO.LOW)
+    GPIO.output(L2, GPIO.HIGH)
+
+# -------------------------------------------------- #
+# Right Motor Functions                              #
+# -------------------------------------------------- #
+def right_stop():
+    GPIO.output(R1, GPIO.LOW)
+    GPIO.output(R2, GPIO.LOW)
+
+def right_forward():
+    GPIO.output(R1, GPIO.HIGH)
+    GPIO.output(R2, GPIO.LOW)
+
+def right_backward():
+    GPIO.output(R1, GPIO.LOW)
+    GPIO.output(R2, GPIO.HIGH)
+
+# -------------------------------------------------- #
+# Macro definition part                              #
+# -------------------------------------------------- #
+@webiopi.macro
+def go_forward():
+    left_forward()
+    right_forward()
+
+@webiopi.macro
+def go_backward():
+    left_backward()
+    right_backward()
+
+@webiopi.macro
+def turn_left():
+    left_backward()
+    right_forward()
+
+@webiopi.macro
+def turn_right():
+    left_forward()
+    right_backward()
+
+@webiopi.macro
+def stop():
+    left_stop()
+    right_stop()
+    
+# Called by WebIOPi at script loading
+def setup():
+    # Setup GPIOs
+    GPIO.setFunction(LS, GPIO.PWM)
+    GPIO.setFunction(L1, GPIO.OUT)
+    GPIO.setFunction(L2, GPIO.OUT)
+    
+    GPIO.setFunction(RS, GPIO.PWM)
+    GPIO.setFunction(R1, GPIO.OUT)
+    GPIO.setFunction(R2, GPIO.OUT)
+    
+    set_speed(0.5)
+    stop()
+
+
+# Called by WebIOPi at server shutdown
+def destroy():
+    # Reset GPIO functions
+    GPIO.setFunction(LS, GPIO.IN)
+    GPIO.setFunction(L1, GPIO.IN)
+    GPIO.setFunction(L2, GPIO.IN)
+    
+    GPIO.setFunction(RS, GPIO.IN)
+    GPIO.setFunction(R1, GPIO.IN)
+    GPIO.setFunction(R2, GPIO.IN)
+    
-- 
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