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<![CDATA[
#!/usr/bin/python
from Adafruit_MotorHAT import Adafruit_MotorHAT
import time
import atexit
import Adafruit_PCA9685
# create a default object, no changes to I2C address or frequency
mh = Adafruit_MotorHAT(addr=0x60)
myMotor1 = mh.getMotor(1)
myMotor2 = mh.getMotor(2)
# servo
pwm = Adafruit_PCA9685.PCA9685(address=0x60)
pwm.set_pwm_freq(60)
def move(degree_1,degree_2,degree_3,degree_8):
degree_1 = int(degree_1 * 5.27)
degree_2 = int(degree_2 * 5.27)
degree_3 = int(degree_3 * 5.27)
degree_8 = int(degree_8 * 5.27)
pwm.set_pwm(0, 0, degree_1)
pwm.set_pwm(1, 0, degree_2)
pwm.set_pwm(2, 0, degree_3)
pwm.set_pwm(7, 0, degree_8)
while (True):
command = raw_input()
if command == 'f':
print "Forward! "
myMotor1.run(Adafruit_MotorHAT.FORWARD)
myMotor2.run(Adafruit_MotorHAT.FORWARD)
myMotor1.setSpeed(255)
myMotor2.setSpeed(255)
time.sleep(1.5)
print "Release"
myMotor1.run(Adafruit_MotorHAT.RELEASE)
myMotor2.run(Adafruit_MotorHAT.RELEASE)
time.sleep(1.0)
elif command == 'b':
print "Backward! "
myMotor1.run(Adafruit_MotorHAT.BACKWARD)
myMotor2.run(Adafruit_MotorHAT.BACKWARD)
myMotor1.setSpeed(255)
myMotor2.setSpeed(255)
time.sleep(1.5)
print "Release"
myMotor1.run(Adafruit_MotorHAT.RELEASE)
myMotor2.run(Adafruit_MotorHAT.RELEASE)
time.sleep(1.0)
elif command == 'r':
print "Backward! "
myMotor1.run(Adafruit_MotorHAT.FORWARD)
myMotor2.run(Adafruit_MotorHAT.BACKWARD)
myMotor1.setSpeed(255)
myMotor2.setSpeed(255)
time.sleep(1.5)
print "Release"
myMotor1.run(Adafruit_MotorHAT.RELEASE)
myMotor2.run(Adafruit_MotorHAT.RELEASE)
time.sleep(1.0)
elif command == 'l':
print "Backward! "
myMotor1.run(Adafruit_MotorHAT.BACKWARD)
myMotor2.run(Adafruit_MotorHAT.FORWARD)
myMotor1.setSpeed(255)
myMotor2.setSpeed(255)
time.sleep(1.5)
print "Release"
myMotor1.run(Adafruit_MotorHAT.RELEASE)
myMotor2.run(Adafruit_MotorHAT.RELEASE)
time.sleep(1.0)
elif command == '1':
move(65,0,0,0)
time.sleep(1)
move(95,0,0,0)
time.sleep(1.0)
elif command == '2':
move(0,90,0,0)
time.sleep(1)
move(0,65,0,0)
time.sleep(1.0)
elif command == '3':
move(0,0,90,0)
time.sleep(1)
move(0,0,55,0)
time.sleep(1.0)
elif command == '8':
move(0,0,0,35)
time.sleep(1)
move(0,0,0,90)
time.sleep(1.0)
move(0,0,0,60)
time.sleep(1.0)
elif command == '0':
move(65,90,55,0)
time.sleep(1)
elif command == 'all':
print "Forward! "
myMotor1.run(Adafruit_MotorHAT.FORWARD)
myMotor2.run(Adafruit_MotorHAT.FORWARD)
myMotor1.setSpeed(255)
myMotor2.setSpeed(255)
time.sleep(1)
print "Release"
myMotor1.run(Adafruit_MotorHAT.RELEASE)
myMotor2.run(Adafruit_MotorHAT.RELEASE)
time.sleep(1)
print "Backward! "
myMotor1.run(Adafruit_MotorHAT.BACKWARD)
myMotor2.run(Adafruit_MotorHAT.BACKWARD)
myMotor1.setSpeed(255)
myMotor2.setSpeed(255)
time.sleep(1)
print "Release"
myMotor1.run(Adafruit_MotorHAT.RELEASE)
myMotor2.run(Adafruit_MotorHAT.RELEASE)
time.sleep(1)
print "Backward! "
myMotor1.run(Adafruit_MotorHAT.FORWARD)
myMotor2.run(Adafruit_MotorHAT.BACKWARD)
myMotor1.setSpeed(255)
myMotor2.setSpeed(255)
time.sleep(1)
print "Release"
myMotor1.run(Adafruit_MotorHAT.RELEASE)
myMotor2.run(Adafruit_MotorHAT.RELEASE)
time.sleep(1)
print "Backward! "
myMotor1.run(Adafruit_MotorHAT.BACKWARD)
myMotor2.run(Adafruit_MotorHAT.FORWARD)
myMotor1.setSpeed(255)
myMotor2.setSpeed(255)
time.sleep(1)
print "Release"
myMotor1.run(Adafruit_MotorHAT.RELEASE)
myMotor2.run(Adafruit_MotorHAT.RELEASE)
time.sleep(1)
move(95,0,0,0)
time.sleep(0.5)
move(0,90,0,0)
time.sleep(0.5)
move(0,65,0,0)
time.sleep(0.5)
move(0,0,90,0)
time.sleep(0.5)
move(0,0,55,0)
time.sleep(0.5)
move(0,0,0,35)
time.sleep(0.5)
move(0,0,0,90)
time.sleep(0.5)
move(0,0,0,60)
time.sleep(0.5)
move(65,90,55,0)
time.sleep(0.5)
]]>
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