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Page créée avec « {{Rasp-Hack-L298-NAV}} <nowiki>#!/usr/bin/env python # -*- coding: latin-1 -*- import RPi.GPIO as GPIO import time import sys GPIO.setmode(GPIO.BCM) #--- Cablage -------... »
{{Rasp-Hack-L298-NAV}}
<nowiki>#!/usr/bin/env python
# -*- coding: latin-1 -*-
import RPi.GPIO as GPIO
import time
import sys
GPIO.setmode(GPIO.BCM)
#--- Cablage --------------------
MOTORA_IN1 = 25 # GPIO 25
MOTORA_IN2 = 24 # GPIO 24
MOTORA_ENABLE = 4 # GPIO 4 - Activation moteur A
MOTORB_IN3 = 23 # GPIO 23
MOTORB_IN4 = 18 # GPIO 18
MOTORB_ENABLE = MOTORA_ENABLE # aussi utiliser GPIO 4 pour commander moteur B
#--- Initialisation -------------
# GPIO.setwarnings(FALSE)
GPIO.setmode(GPIO.BCM)
GPIO.setup( MOTORA_IN1, GPIO.OUT )
GPIO.setup( MOTORA_IN2, GPIO.OUT )
GPIO.setup( MOTORB_IN3, GPIO.OUT )
GPIO.setup( MOTORB_IN4, GPIO.OUT )
GPIO.setup( MOTORA_ENABLE, GPIO.OUT )
if( MOTORB_ENABLE != MOTORA_ENABLE ):
GPIO.setup( MOTORB_ENABLE, GPIO.OUT )
# Assure l'arret moteur
GPIO.setup( MOTORA_ENABLE, GPIO.LOW )
if( MOTORB_ENABLE != MOTORA_ENABLE ):
GPIO.setup( MOTORB_ENABLE, GPIO.LOW )
# --- Controle du L298 --------------------------
# Sens de rotation du moteur
SENS_AVANT = 1
SENS_ARRIERE = 2
SENS_ARRET = 3
def Desactiver():
""" Désactivation des pont-H """
GPIO.output( MOTORA_ENABLE, GPIO.LOW )
if( MOTORB_ENABLE != MOTORA_ENABLE ):
GPIO.output( MOTORB_ENABLE, GPIO.LOW )
def Activer():
""" Activation des pont-H """
GPIO.output( MOTORA_ENABLE, GPIO.HIGH )
if( MOTORB_ENABLE != MOTORA_ENABLE ):
GPIO.output( MOTORB_ENABLE, GPIO.HIGH )
def MarcheMotorA( sens ):
""" Controle le sens de Marche pour Moteur A """
if( sens == SENS_AVANT ):
GPIO.output( MOTORA_IN1, GPIO.HIGH )
GPIO.output( MOTORA_IN2, GPIO.LOW )
elif( sens == SENS_ARRIERE ):
GPIO.output( MOTORA_IN1, GPIO.LOW )
GPIO.output( MOTORA_IN2, GPIO.HIGH )
elif( sens == SENS_ARRET ):
GPIO.output( MOTORA_IN1, GPIO.LOW )
GPIO.output( MOTORA_IN2, GPIO.LOW )
def MarcheMotorB( sens ):
"""Controle le sens de Marche pour Moteur B """
if( sens == SENS_AVANT ):
GPIO.output( MOTORB_IN3, GPIO.HIGH )
GPIO.output( MOTORB_IN4, GPIO.LOW )
elif( sens == SENS_ARRIERE ):
GPIO.output( MOTORB_IN3, GPIO.LOW )
GPIO.output( MOTORB_IN4, GPIO.HIGH )
elif( sens == SENS_ARRET ):
GPIO.output( MOTORB_IN3, GPIO.LOW )
GPIO.output( MOTORB_IN4, GPIO.LOW )
def Avant():
""" Marche avant toute """
print( "Marche Avant" )
Desactiver()
MarcheMotorA( SENS_AVANT )
MarcheMotorB( SENS_AVANT )
Activer()
def Arriere():
""" Marche arrière toute """
print( "Marche Arrière" )
Desactiver()
MarcheMotorA( SENS_ARRIERE )
MarcheMotorB( SENS_ARRIERE )
Activer()
def TournerDroite():
""" Fait tourner à droite """
print( "Tourner à droite" )
Desactiver()
MarcheMotorA( SENS_ARRIERE )
MarcheMotorB( SENS_AVANT )
Activer()
def TournerGauche():
""" Fait tourner a gauche """
print( "Tourner à gauche" )
Desactiver()
MarcheMotorA( SENS_AVANT )
MarcheMotorB( SENS_ARRIERE )
Activer()
def Stop():
""" Arret """
print "Arret"
Desactiver()
MarcheMotorA( SENS_ARRET )
MarcheMotorB( SENS_ARRET )
Activer()
if __name__ == '__main__':
Avant()
time.sleep( 5 )
TournerDroite()
time.sleep( 3 )
Avant()
time.sleep( 5 )
TournerGauche()
time.sleep( 3 )
Arriere()
time.sleep( 5 )
Stop()
</nowiki>
{{Rasp-Hack-L298-TRAILER}}
<nowiki>#!/usr/bin/env python
# -*- coding: latin-1 -*-
import RPi.GPIO as GPIO
import time
import sys
GPIO.setmode(GPIO.BCM)
#--- Cablage --------------------
MOTORA_IN1 = 25 # GPIO 25
MOTORA_IN2 = 24 # GPIO 24
MOTORA_ENABLE = 4 # GPIO 4 - Activation moteur A
MOTORB_IN3 = 23 # GPIO 23
MOTORB_IN4 = 18 # GPIO 18
MOTORB_ENABLE = MOTORA_ENABLE # aussi utiliser GPIO 4 pour commander moteur B
#--- Initialisation -------------
# GPIO.setwarnings(FALSE)
GPIO.setmode(GPIO.BCM)
GPIO.setup( MOTORA_IN1, GPIO.OUT )
GPIO.setup( MOTORA_IN2, GPIO.OUT )
GPIO.setup( MOTORB_IN3, GPIO.OUT )
GPIO.setup( MOTORB_IN4, GPIO.OUT )
GPIO.setup( MOTORA_ENABLE, GPIO.OUT )
if( MOTORB_ENABLE != MOTORA_ENABLE ):
GPIO.setup( MOTORB_ENABLE, GPIO.OUT )
# Assure l'arret moteur
GPIO.setup( MOTORA_ENABLE, GPIO.LOW )
if( MOTORB_ENABLE != MOTORA_ENABLE ):
GPIO.setup( MOTORB_ENABLE, GPIO.LOW )
# --- Controle du L298 --------------------------
# Sens de rotation du moteur
SENS_AVANT = 1
SENS_ARRIERE = 2
SENS_ARRET = 3
def Desactiver():
""" Désactivation des pont-H """
GPIO.output( MOTORA_ENABLE, GPIO.LOW )
if( MOTORB_ENABLE != MOTORA_ENABLE ):
GPIO.output( MOTORB_ENABLE, GPIO.LOW )
def Activer():
""" Activation des pont-H """
GPIO.output( MOTORA_ENABLE, GPIO.HIGH )
if( MOTORB_ENABLE != MOTORA_ENABLE ):
GPIO.output( MOTORB_ENABLE, GPIO.HIGH )
def MarcheMotorA( sens ):
""" Controle le sens de Marche pour Moteur A """
if( sens == SENS_AVANT ):
GPIO.output( MOTORA_IN1, GPIO.HIGH )
GPIO.output( MOTORA_IN2, GPIO.LOW )
elif( sens == SENS_ARRIERE ):
GPIO.output( MOTORA_IN1, GPIO.LOW )
GPIO.output( MOTORA_IN2, GPIO.HIGH )
elif( sens == SENS_ARRET ):
GPIO.output( MOTORA_IN1, GPIO.LOW )
GPIO.output( MOTORA_IN2, GPIO.LOW )
def MarcheMotorB( sens ):
"""Controle le sens de Marche pour Moteur B """
if( sens == SENS_AVANT ):
GPIO.output( MOTORB_IN3, GPIO.HIGH )
GPIO.output( MOTORB_IN4, GPIO.LOW )
elif( sens == SENS_ARRIERE ):
GPIO.output( MOTORB_IN3, GPIO.LOW )
GPIO.output( MOTORB_IN4, GPIO.HIGH )
elif( sens == SENS_ARRET ):
GPIO.output( MOTORB_IN3, GPIO.LOW )
GPIO.output( MOTORB_IN4, GPIO.LOW )
def Avant():
""" Marche avant toute """
print( "Marche Avant" )
Desactiver()
MarcheMotorA( SENS_AVANT )
MarcheMotorB( SENS_AVANT )
Activer()
def Arriere():
""" Marche arrière toute """
print( "Marche Arrière" )
Desactiver()
MarcheMotorA( SENS_ARRIERE )
MarcheMotorB( SENS_ARRIERE )
Activer()
def TournerDroite():
""" Fait tourner à droite """
print( "Tourner à droite" )
Desactiver()
MarcheMotorA( SENS_ARRIERE )
MarcheMotorB( SENS_AVANT )
Activer()
def TournerGauche():
""" Fait tourner a gauche """
print( "Tourner à gauche" )
Desactiver()
MarcheMotorA( SENS_AVANT )
MarcheMotorB( SENS_ARRIERE )
Activer()
def Stop():
""" Arret """
print "Arret"
Desactiver()
MarcheMotorA( SENS_ARRET )
MarcheMotorB( SENS_ARRET )
Activer()
if __name__ == '__main__':
Avant()
time.sleep( 5 )
TournerDroite()
time.sleep( 3 )
Avant()
time.sleep( 5 )
TournerGauche()
time.sleep( 3 )
Arriere()
time.sleep( 5 )
Stop()
</nowiki>
{{Rasp-Hack-L298-TRAILER}}