147 lines
4.5 KiB
Python
147 lines
4.5 KiB
Python
from gpiod import request_lines, LineSettings
|
|
from gpiod.line import Direction, Value
|
|
|
|
from settings import settings
|
|
|
|
|
|
class LedLineGpio:
|
|
"""Класс для управления линией gpio для LED"""
|
|
|
|
def __init__(self, line: int, gpio_path: str, consumer: str) -> None:
|
|
self.line = line
|
|
self._request = request_lines(
|
|
path=gpio_path,
|
|
consumer=consumer,
|
|
config={
|
|
self.line: LineSettings(
|
|
direction=Direction.OUTPUT,
|
|
output_value=Value.INACTIVE
|
|
)
|
|
}
|
|
)
|
|
|
|
def on(self) -> None:
|
|
"""Метод для включения LED"""
|
|
|
|
self._request.set_value(self.line, Value.ACTIVE)
|
|
|
|
def off(self) -> None:
|
|
"""Метод для выключения LED"""
|
|
|
|
self._request.set_value(self.line, Value.INACTIVE)
|
|
|
|
def close(self) -> None:
|
|
"""Метод для освобождения ресурса"""
|
|
|
|
self._request.release()
|
|
|
|
|
|
class MotorDCLineGpio:
|
|
"""Класс для управления линией GPIO для DC мотора"""
|
|
|
|
def __init__(self, line_in1: int, line_in2: int, gpio_path: str, consumer: str) -> None:
|
|
self.line_in1 = line_in1
|
|
self._request_in1 = request_lines(
|
|
path=gpio_path,
|
|
consumer=consumer,
|
|
config={
|
|
self.line_in1: LineSettings(
|
|
direction=Direction.OUTPUT,
|
|
output_value=Value.INACTIVE
|
|
)
|
|
}
|
|
)
|
|
|
|
self.line_in2 = line_in2
|
|
self._request_in2 = request_lines(
|
|
path=gpio_path,
|
|
consumer=consumer,
|
|
config={
|
|
self.line_in2: LineSettings(
|
|
direction=Direction.OUTPUT,
|
|
output_value=Value.INACTIVE
|
|
)
|
|
}
|
|
)
|
|
|
|
def forward_motor(self) -> None:
|
|
"""Метод для вращения мотора вперёд"""
|
|
|
|
self._request_in1.set_value(self.line_in1, Value.ACTIVE)
|
|
self._request_in2.set_value(self.line_in2, Value.INACTIVE)
|
|
|
|
def backward_motor(self) -> None:
|
|
"""Метод для вращения мотора назад"""
|
|
|
|
self._request_in1.set_value(self.line_in1, Value.INACTIVE)
|
|
self._request_in2.set_value(self.line_in2, Value.ACTIVE)
|
|
|
|
def stop_motor(self) -> None:
|
|
"""Метод для остановки мотора"""
|
|
|
|
self._request_in1.set_value(self.line_in1, Value.INACTIVE)
|
|
self._request_in2.set_value(self.line_in2, Value.INACTIVE)
|
|
|
|
def close(self) -> None:
|
|
"""Метод для освобождения ресурса"""
|
|
|
|
self._request_in1.release()
|
|
self._request_in2.release()
|
|
|
|
|
|
class RobotControl:
|
|
"""Класс для управления роботом"""
|
|
|
|
def __init__(self) -> None:
|
|
self._left_motor = MotorDCLineGpio(
|
|
line_in1=settings.gpio_lines.left_motor_line_in1,
|
|
line_in2=settings.gpio_lines.left_motor_line_in2,
|
|
gpio_path=settings.gpio_lines.gpio_path,
|
|
consumer=settings.gpio_lines.left_motor_consumer
|
|
)
|
|
|
|
self._right_motor = MotorDCLineGpio(
|
|
line_in1=settings.gpio_lines.right_motor_line_in1,
|
|
line_in2=settings.gpio_lines.right_motor_line_in2,
|
|
gpio_path=settings.gpio_lines.gpio_path,
|
|
consumer=settings.gpio_lines.right_motor_consumer
|
|
)
|
|
|
|
self.stop()
|
|
|
|
def forward(self) -> None:
|
|
"""Движение робота вперёд"""
|
|
|
|
self._left_motor.forward_motor()
|
|
self._right_motor.forward_motor()
|
|
|
|
def backward(self) -> None:
|
|
"""Движение робота назад"""
|
|
|
|
self._left_motor.backward_motor()
|
|
self._right_motor.backward_motor()
|
|
|
|
def left(self) -> None:
|
|
"""Поворот робота налево"""
|
|
|
|
self._right_motor.forward_motor()
|
|
self._left_motor.backward_motor()
|
|
|
|
def right(self) -> None:
|
|
"""Поворот робота направо"""
|
|
|
|
self._right_motor.backward_motor()
|
|
self._left_motor.forward_motor()
|
|
|
|
def stop(self) -> None:
|
|
"""Остановка робота"""
|
|
|
|
self._left_motor.stop_motor()
|
|
self._right_motor.stop_motor()
|
|
|
|
def close(self) -> None:
|
|
"""Освобождение ресурса"""
|
|
|
|
self._left_motor.close()
|
|
self._right_motor.close()
|