redboard.py

#Python library for the Red Robotics 'HeadBoard' and 'SideBoard' Raspberry Pi add on robotics boards.
#Simple python commands for controlling motors, servos and Neopixels (WS2812B).
#Version 1.22 21/6/2018
# Author: Neil Lambeth. neil@redrobotics.co.uk @NeilRedRobotics

from __future__ import print_function  # Make print work with python 2 & 3
print('Please wait while modules load...')
import time
import pigpio
from neopixels import *


# Setup GPIO
servo_0 = 20
servo_1 = 21

dira = 23
pwma = 18
 
dirb = 24
pwmb = 25

FWD = 1
BWD = 0

rMotor = 0
lMotor = 0
RM = 0
LM = 0

INPUT = 1
OUTPUT = 0

pi = pigpio.pi()
 
pi.set_mode(dira, pigpio.OUTPUT)
pi.set_mode(pwma, pigpio.OUTPUT)

pi.set_mode(dirb, pigpio.OUTPUT)
pi.set_mode(pwmb, pigpio.OUTPUT)
 

pi.write(dira, 0)
pi.write(dirb, 0)
pi.set_PWM_frequency(pwma, 100)
pi.set_PWM_frequency(pwmb, 100)

pi.set_mode(servo_0, pigpio.OUTPUT)
pi.set_mode(servo_1, pigpio.OUTPUT)

print("Redboard Library V1.22 loaded")

#-----------------------------------------------------


#GPIO 
    
def output_pin(p):
    pi.set_mode(p, pigpio.OUTPUT)

def input_pin(p):
    pi.set_mode(p, pigpio.INPUT)

def pull_up(p):
    pi.set_pull_up_down(p, pigpio.PUD_UP)
    
def pull_down(p):
    pi.set_pull_up_down(p, pigpio.PUD_DOWN)


def setPin(p, state):
    pi.write(p, state)

def readPin(p):
    r = pi.read(p)
    return r

#-----------------------------------------------------

def servo0(pos0):
    if pos0 >= 0 and pos0 <91:
        print ("servo0 =",pos0)
        pos0 = 1500 - (pos0 * 11.1)
        #print (pos0)
        pi.set_servo_pulsewidth(servo_0, pos0)
    
    elif pos0 < 0 and pos0 >-91:
        print ("servo0 =",pos0)
        pos0 = (abs(pos0) * 11.1) + 1500
        #print (pos0)
        pi.set_servo_pulsewidth(servo_0, pos0)

    else:
        print ("Out Of Range!")

#-----------------------------------------------------

def servo0_P(pos0):
    if pos0 >499 and pos0 <2501:
        print ("servo0 =",pos0)
        pi.set_servo_pulsewidth(servo_0, pos0)

    else:
        print ("Out Of Range!")

#-----------------------------------------------------

def servo0_off():
    pi.set_servo_pulsewidth(servo_0, 0)
    print ("servo0 off")

#-----------------------------------------------------
 
def servo1(pos1):
    if pos1 >= 0 and pos1 <91:
        print ("servo1 =",pos1)
        pos1 = 1500 - (pos1 * 11.1)
        #print (pos1)
        pi.set_servo_pulsewidth(servo_1, pos1)
    
    elif pos1 < 0 and pos1 >-91:
        print ("servo1 =",pos1)
        pos1 = (abs(pos1) * 11.1) + 1500
        #print (pos1)
        pi.set_servo_pulsewidth(servo_1, pos1)

    else:
        print ("Out Of Range!")

#-----------------------------------------------------

def servo1_P(pos1):
    if pos1 >499 and pos1 <2501:
        print ("servo1 =",pos1)
        pi.set_servo_pulsewidth(servo_1, pos1)

    else:
        print ("Out Of Range!")

#-----------------------------------------------------

def servo1_off():
    pi.set_servo_pulsewidth(servo_1, 0)
    print ("servo1 off")

#-----------------------------------------------------

def M1(lm):  

            if lm > 100:  # Make sure the value sent to the motor is 100 or less
                print("Out of range")
                lm = 100

            elif lm < -100:  # Make sure the value sent to the motor is 100 or less
                print("Out of range")
                lm = -100

            lMotor = lm * 2.55
              
            # Set left motor direction
            if lMotor > 0:
                pi.write(dirb, FWD)  # Go forwards
                LM = lMotor
                #print("Motor1  =",lm,"\r")
                #print("Actual = ",LM)
            elif lMotor < 0:  
                pi.write(dirb, BWD)  # Go backwards
                LM = abs(lMotor)  # Make positive
                #print("Motor1  =",lm,"\r")
                #print("Actual = -",LM)
            else:
                #print("M1 Stop\r")
                LM = 0  # Stop  
   
            pi.set_PWM_dutycycle(pwmb,LM)   

#-----------------------------------------------------

def M1_8bit(lm):  

            if lm > 255:  # Make sure the value sent to the motor is 255 or less
                print("Out of range")
                lm = 255

            elif lm < -255:  # Make sure the value sent to the motor is 255 or less
                print("Out of range")
                lm = -255
              
            # Set left motor direction
            if lm > 0:
                pi.write(dirb, FWD)  # Go forwards
                LM = lm
                #print("Motor1  =",lm,"\r")
                #print("Actual = ",LM)
            elif lm < 0:  
                pi.write(dirb, BWD)  # Go backwards
                LM = abs(lm)  # Make positive
                #print("Motor1  =",lm,"\r")
                #print("Actual = -",LM)
            else:
                #print("M1 Stop\r")
                LM = 0  # Stop  
   
            pi.set_PWM_dutycycle(pwmb,LM)   

#-----------------------------------------------------
       
def M2(rm):   

            if rm > 100:  # Make sure the value sent to the motor is 100 or less
                print("Out of range")
                rm = 100

            elif rm < -100:  # Make sure the value sent to the motor is 100 or less
                print("Out of range")
                rm = -100

            rMotor = rm * 2.55

            # Set right motor direction
            if rMotor > 0:  
                pi.write(dira, FWD)  # Go forwards
                RM = rMotor
                #print("Motor2 =",rm,"\r")
                #print("Actual = ",RM)

            elif rMotor < 0:  
                pi.write(dira, BWD)  # Go backwards
                RM = abs(rMotor)  # Make positive
                #print("Motor2 =",rm,"\r")
                #print("Actual = -",RM)
            else:
                #print("M2 Stop\r")
                RM = 0  # Stop            
 
            pi.set_PWM_dutycycle(pwma,RM)


#-----------------------------------------------------

def M2_8bit(rm):  

            if rm > 255:  # Make sure the value sent to the motor is 255 or less
                print("Out of range")
                rm = 255

            elif rm < -255:  # Make sure the value sent to the motor is 255 or less
                print("Out of range")
                rm = -255
              
            # Set left motor direction
            if rm > 0:
                pi.write(dira, FWD)  # Go forwards
                RM = rm
                #print("Motor1  =",rm,"\r")
                #print("Actual = ",RM)
            elif rm < 0:  
                pi.write(dira, BWD)  # Go backwards
                pi.write(dira, BWD)  # Go backwards
                RM = abs(rm)  # Make positive
                #print("Motor1  =",rm,"\r")
                #print("Actual = -",RM)
            else:
                #print("M1 Stop\r")
                RM = 0  # Stop  
   
            pi.set_PWM_dutycycle(pwma,RM)   
  
#-----------------------------------------------------          
            
def Stop(): 
            pi.set_PWM_dutycycle(pwma,0)
            pi.set_PWM_dutycycle(pwmb,0)

            pi.set_mode(pwma, pigpio.INPUT)	
            pi.set_mode(pwmb, pigpio.INPUT)

            pi.stop()