45 lines
1.4 KiB
Python
45 lines
1.4 KiB
Python
import os
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from gpiozero import Servo, Device
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GPIOZERO_PIN_FACTORY = "piggpio"
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class Motor:
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def __init__(self, motor_pin=19):
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# This may not work properly, should print.
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os.environ["GPIOZERO_PIN_FACTORY"] = GPIOZERO_PIN_FACTORY
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print('Using pin factory: ' + Device.pin_factory)
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# This will say it fails if pigpio daemon is already started, just ignore it.
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os.system("sudo pigpiod")
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self.set_motor_pin(motor_pin)
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self.initialise_motor()
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def initialise_motor(self):
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if self._motor_pin is None:
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print("Motor pin number is not set.")
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return
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self._servo = Servo(self._motor_pin)
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def set_throttle(self, throttle):
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try:
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if throttle < -1 or throttle > 1:
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print("Not setting throttle, invalid value set.")
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return False
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self._servo.value = throttle
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except TypeError:
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print("throttle should be a number, preferably a float.")
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return False
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return True
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def set_motor_pin(self, value):
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if isinstance(value, int):
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if value < 2 or value > 21:
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print("Invalid GPIO pin")
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return False
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self._motor_pin = value
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return True
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else:
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print("Value must be an int.")
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return False
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def stop(self):
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self.set_throttle(0) |