Merge branch 'master' of github.com:freaf87/FSEDevBoard

Author: freaf87

02_Code/FSEDevBoard/FseDevBoard/buzzer.py

@@ -47,7 +47,7 @@ def buzzForTime(self, time):
         sleep(time)
 
 if __name__ == "__main__":
-    with BUZZER(21) as buzzer:
+    with BUZZER(4) as buzzer:
         while True:
             for i in list(range(40,0,-1)):
                 print ("distance = {0} cm".format(i))

02_Code/FSEDevBoard/FseDevBoard/rgbLed.py

@@ -17,7 +17,6 @@
 from os.path import dirname
 sys.path.append(dirname(__file__))
 
-
 from pca9685 import PWM_Driver
 import time
 import sys

02_Code/FSEDevBoard/FseDevBoard/tb6612fng.py

@@ -17,6 +17,7 @@
 
 """Driver for 2 TB6612FNG DC motors mounted to a single chassis."""
 import sys
+import os
 from os.path import dirname
 sys.path.append(dirname(__file__))
 
@@ -28,27 +29,23 @@
 class MotorDriver(GPIO_Manager):
     """Interface with 2 TB6612FNG DC Motor drivers."""
     # Configure motor 1
-    _m1_dir1_pin = 6
-    _m1_dir2_pin = 12
-    _m1_pwm_pin_annex = 5  # solve error mapping (Vers.01)
-    _m1_pwm_pin = 18
+    _m1_dir1_pin = 19
+    _m1_dir2_pin = 16
+    _m1_pwm_pin  = 12
 
     # Configure motor 2
-    _m2_dir1_pin = 19
-    _m2_dir2_pin = 16
-    _m2_pwm_pin_annex = 26  # solve error mapping (Vers.01)
+    _m2_dir1_pin = 26
+    _m2_dir2_pin = 20
     _m2_pwm_pin = 13
 
-    _standby_pin = 20
+    _standby_pin = 21
 
     PWM_OUTPUTS = [_m1_pwm_pin, _m2_pwm_pin]
 
-    INPUT_PINS = [_m1_pwm_pin_annex, _m2_pwm_pin_annex]
-
     OUTPUT_PINS = [_m1_dir1_pin, _m1_dir2_pin,
                    _m2_dir1_pin, _m2_dir2_pin,
                    _standby_pin]
-    _pins = PWM_OUTPUTS + INPUT_PINS + OUTPUT_PINS
+    _pins = PWM_OUTPUTS + OUTPUT_PINS
 
     @staticmethod
     def to_dc(dc):
@@ -64,11 +61,6 @@ def __init__(self):
         for pin in self.PWM_OUTPUTS:
             wiringpi.pinMode(pin, wiringpi.PWM_OUTPUT)
 
-        for pin in self.INPUT_PINS:
-            wiringpi.pinMode(pin, wiringpi.INPUT)
-            # Make sure all annex_pin are set LOW
-            wiringpi.pullUpDnControl(pin, wiringpi.PUD_DOWN)
-
     def right_forward(self):
         """Drive right motor forward."""
         wiringpi.digitalWrite(self._m1_dir1_pin, wiringpi.LOW)
@@ -138,28 +130,28 @@ def __exit__(self, *args):
     with MotorDriver() as tb6612fng:
         while True:
             print("forward")
-            tb6612fng.forward()
+            tb6612fng.forward(50)
             time.sleep(3)
 
             tb6612fng.stop()
             time.sleep(3)
 
             print("reverse")
-            tb6612fng.reverse()
+            tb6612fng.reverse(50)
             time.sleep(3)
 
             tb6612fng.stop()
             time.sleep(3)
 
             print("left")
-            tb6612fng.left()
+            tb6612fng.left(50)
             time.sleep(3)
 
             tb6612fng.stop()
             time.sleep(3)
 
             print("right")
-            tb6612fng.right()
+            tb6612fng.right(50)
             time.sleep(3)
 
             tb6612fng.stop()

02_Code/README.md

@@ -1,5 +1,5 @@
 # FSEDevBoard package
- 
+
 ## Installing
       % sudo apt install python3 python3-pip
       % pip3 install virtualenv
@@ -14,5 +14,8 @@
       (venv) % pip3 install FseDevBoard-0.0.1.tar.gz
 
 ### Running the PDC example
-     (venv) % cd ../../applications
-     (venv) % python3 PDC.py
+Note: Because applications using PWM must have root privileges, it is necessary to switch to root so that the venv is respected.
+      % sudo su
+      % source venv/bin/activate
+      (venv) % cd ../../applications
+      (venv) % python3 PDC.py

02_Code/applications/PDC.py

@@ -31,7 +31,7 @@ class PDC(object):
     def __init__(self):
         self.ultrasonic = HCSR04(15, 14)
         self.rgbled = RGBLED()
-        self.buzzer = BUZZER(21)
+        self.buzzer = BUZZER(4)
         self.rgbled.pwmDriver.setPwmFreq(600)
 
     def setPDCColor(self, color):