GPIO.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Code to Move to Pi"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "#import statements\n",
    "\n",
    "# import RPi.GPIO as GPIO\n",
    "\n",
    "# set pin numbers\n",
    "L_pwm = 12\n",
    "R_pwm = 13\n",
    "frequency = 50 # in Hz  \n",
    "L_relay_0 = 23 \n",
    "L_relay_1 = 24\n",
    "R_relay_0 = 27 \n",
    "R_relay_1 = 22\n",
    "\n",
    "def setup():\n",
    "    GPIO.setmode(GPIO.BOARD)\n",
    "    GPIO.setwarnings(false)\n",
    "    GPIO.setup(L_relay_0, GPIO.OUT)\n",
    "    GPIO.setup(R_relay_0, GPIO.OUT)\n",
    "    GPIO.setup(L_relay_1, GPIO.OUT)\n",
    "    GPIO.setup(R_relay_1, GPIO.OUT)\n",
    "    GPIO.setup(L_pwm, GPIO.OUT)\n",
    "    GPIO.setup(R_pwm, GPIO.OUT)\n",
    "    L = GPIO.PWM(L_pwm,frequency)\n",
    "    R = GPIO.PWM(R_pwm,frequency)\n",
    "    L.start(0)\n",
    "    R.start(0)\n",
    "    return (L,R)\n",
    "    \n",
    "#(L,R) = setup();\n",
    "\n",
    "def R_stop():\n",
    "    R_relay_0 = 0\n",
    "    R_relay_1 = 0\n",
    "\n",
    "def L_stop():\n",
    "    L_relay_0 = 0\n",
    "    L_relay_1 = 0\n",
    "\n",
    "def L_forward():\n",
    "    L_relay_0 = 0\n",
    "    L_relay_1 = 1\n",
    "    \n",
    "def R_forward():\n",
    "    R_relay_0 = 0\n",
    "    R_relay_1 = 1\n",
    "    \n",
    "def L_reverse():\n",
    "    L_relay_0 = 1\n",
    "    L_relay_1 = 0\n",
    "    \n",
    "def R_reverse():\n",
    "    R_relay_0 = 1\n",
    "    R_relay_1 = 0\n",
    "\n",
    "def L_speed(speed): # speed in percentage (0~100)\n",
    "    L.changeDutyCycle(speed)\n",
    "    \n",
    "def R_speed(speed): # speed in percentage (0~100)\n",
    "    R.changeDutyCycle(speed)\n",
    "      \n",
    "def move_left():\n",
    "    L_reverse()\n",
    "    R_forward()\n",
    "    \n",
    "def move_right():\n",
    "    R_reverse()\n",
    "    L_forward()\n",
    "    \n",
    "def move_front():\n",
    "    R_forward()\n",
    "    L_forward()\n",
    "    \n",
    "def stop():\n",
    "    L_stop()\n",
    "    R_stop()\n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Trial Code"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "#import statements\n",
    "\n",
    "# import rpi.GPIO as GPIO\n",
    "\n",
    "# set pin numbers\n",
    "L_pwm = 12\n",
    "R_pwm = 13\n",
    "frequency = 50 # in Hz  \n",
    "L_relay_0 = 23 \n",
    "L_relay_1 = 24\n",
    "R_relay_0 = 27 \n",
    "R_relay_1 = 22\n",
    "\n",
    "def setup():\n",
    "    GPIO.setmode(GPIO.BOARD)\n",
    "    GPIO.setwarnings(false)\n",
    "    GPIO.setup(L_relay_0, GPIO.OUT)\n",
    "    GPIO.setup(R_relay_0, GPIO.OUT)\n",
    "    GPIO.setup(L_relay_1, GPIO.OUT)\n",
    "    GPIO.setup(R_relay_1, GPIO.OUT)\n",
    "    GPIO.setup(L_pwm, GPIO.OUT)\n",
    "    GPIO.setup(R_pwm, GPIO.OUT)\n",
    "    L = GPIO.PWM(L_pwm,frequency)\n",
    "    R = GPIO.PWM(R_pwm,frequency)\n",
    "    L.start(0)\n",
    "    R.start(0)\n",
    "    return (L,R)\n",
    "    \n",
    "#(L,R) = setup();\n",
    "\n",
    "def R_stop():\n",
    "    R_relay_0 = 0\n",
    "    R_relay_1 = 0\n",
    "\n",
    "def L_stop():\n",
    "    L_relay_0 = 0\n",
    "    L_relay_1 = 0\n",
    "\n",
    "def L_forward():\n",
    "    L_relay_0 = 0\n",
    "    L_relay_1 = 1\n",
    "    \n",
    "def R_forward():\n",
    "    R_relay_0 = 0\n",
    "    R_relay_1 = 1\n",
    "    \n",
    "def L_reverse():\n",
    "    L_relay_0 = 1\n",
    "    L_relay_1 = 0\n",
    "    \n",
    "def R_reverse():\n",
    "    R_relay_0 = 1\n",
    "    R_relay_1 = 0\n",
    "\n",
    "def L_speed(speed): # speed in percentage (0~100)\n",
    "    L.changeDutyCycle(speed)\n",
    "    \n",
    "def R_speed(speed): # speed in percentage (0~100)\n",
    "    R.changeDutyCycle(speed)\n",
    "    \n",
    "def move_left():\n",
    "    L_reverse()\n",
    "    R_forward()\n",
    "    \n",
    "def move_right():\n",
    "    R_reverse()\n",
    "    L_forward()\n",
    "    \n",
    "def move_front():\n",
    "    R_forward()\n",
    "    L_forward()\n",
    "    \n",
    "def stop():\n",
    "    L_stop()\n",
    "    R_stop()\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 2",
   "language": "python",
   "name": "python2"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 2
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython2",
   "version": "2.7.14"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}