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# Imports
import webiopi
# Retrieve GPIO lib
GPIO = webiopi.GPIO
# -------------------------------------------------- #
# Constants definition #
# -------------------------------------------------- #
# Left motor GPIOs
L1=9 # H-Bridge 1
L2=10 # H-Bridge 2
LS=11 # 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 #
# -------------------------------------------------- #
def go_forward():
left_forward()
right_forward()
def go_backward():
left_backward()
right_backward()
def turn_left():
left_backward()
right_forward()
def turn_right():
left_forward()
right_backward()
def stop():
left_stop()
right_stop()
# -------------------------------------------------- #
# Initialization part #
# -------------------------------------------------- #
# 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()
# -------------------------------------------------- #
# Main server part #
# -------------------------------------------------- #
# Instantiate the server on the port 8000, it starts immediately in its own thread
server = webiopi.Server(port=8000, login="cambot", password="cambot")
# Register the macros so you can call it with Javascript and/or REST API
server.addMacro(go_forward)
server.addMacro(go_backward)
server.addMacro(turn_left)
server.addMacro(turn_right)
server.addMacro(stop)
# -------------------------------------------------- #
# Loop execution part #
# -------------------------------------------------- #
# Run our loop until CTRL-C is pressed or SIGTERM received
webiopi.runLoop()
# -------------------------------------------------- #
# Termination part #
# -------------------------------------------------- #
# Stop the server
server.stop()
# 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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