Chapter 5 examples

ch-5/1-tests/motors_test_1_pin.py

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+import time
+import board
+import digitalio
+
+motor_A1 = digitalio.DigitalInOut(board.GP18)
+motor_A1.direction = digitalio.Direction.OUTPUT
+
+motor_A1.value = True
+time.sleep(0.3)
+motor_A1.value = False

ch-5/1-tests/motors_test_1_pin_short.py

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+import time
+import robot
+
+robot.motor_A1.value = True
+time.sleep(0.3)
+robot.motor_A1.value = False

ch-5/1-tests/motors_test_all_pins.py

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+import time
+import board
+import digitalio
+
+motor_A1 = digitalio.DigitalInOut(board.GP17)
+motor_A2 = digitalio.DigitalInOut(board.GP16)
+motor_B1 = digitalio.DigitalInOut(board.GP18)
+motor_B2 = digitalio.DigitalInOut(board.GP19)
+
+motor_A1.direction = digitalio.Direction.OUTPUT
+motor_A2.direction = digitalio.Direction.OUTPUT
+motor_B1.direction = digitalio.Direction.OUTPUT
+motor_B2.direction = digitalio.Direction.OUTPUT
+
+motor_A1.value = True
+time.sleep(0.3)
+motor_A1.value = False
+time.sleep(0.3)
+motor_A2.value = True
+time.sleep(0.3)
+motor_A2.value = False
+time.sleep(0.3)
+motor_B1.value = True
+time.sleep(0.3)
+motor_B1.value = False
+time.sleep(0.3)
+motor_B2.value = True
+time.sleep(0.3)
+motor_B2.value = False

ch-5/1-tests/motors_test_all_pins_short.py

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+import time
+import robot
+
+robot.motor_A1.value = True
+time.sleep(0.3)
+robot.motor_A1.value = False
+time.sleep(0.3)
+robot.motor_A2.value = True
+time.sleep(0.3)
+robot.motor_A2.value = False
+time.sleep(0.3)
+robot.motor_B1.value = True
+time.sleep(0.3)
+robot.motor_B1.value = False
+time.sleep(0.3)
+robot.motor_B2.value = True
+time.sleep(0.3)
+robot.motor_B2.value = False

ch-5/1-tests/robot.py

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+# Write your code here :-)
+import board
+import digitalio
+
+motor_A1 = digitalio.DigitalInOut(board.GP17)
+motor_A2 = digitalio.DigitalInOut(board.GP16)
+motor_B1 = digitalio.DigitalInOut(board.GP18)
+motor_B2 = digitalio.DigitalInOut(board.GP19)
+
+motor_A1.direction = digitalio.Direction.OUTPUT
+motor_A2.direction = digitalio.Direction.OUTPUT
+motor_B1.direction = digitalio.Direction.OUTPUT
+motor_B2.direction = digitalio.Direction.OUTPUT
+
+def stop():
+    motor_A1.value = False
+    motor_A2.value = False
+    motor_B1.value = False
+    motor_B2.value = False

ch-5/2-forward-back/motors_backward.py

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+import time
+import robot
+
+robot.motor_A2.value = True
+robot.motor_B2.value = True
+time.sleep(0.3)
+robot.motor_A2.value = False
+robot.motor_B2.value = False

ch-5/2-forward-back/motors_forward.py

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+import time
+import robot
+
+robot.motor_A1.value = True
+robot.motor_B1.value = True
+time.sleep(0.3)
+robot.motor_A1.value = False
+robot.motor_B1.value = False

ch-5/2-forward-back/robot.py

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+# Write your code here :-)
+import board
+import digitalio
+
+motor_A1 = digitalio.DigitalInOut(board.GP17)
+motor_A2 = digitalio.DigitalInOut(board.GP16)
+motor_B1 = digitalio.DigitalInOut(board.GP18)
+motor_B2 = digitalio.DigitalInOut(board.GP19)
+
+motor_A1.direction = digitalio.Direction.OUTPUT
+motor_A2.direction = digitalio.Direction.OUTPUT
+motor_B1.direction = digitalio.Direction.OUTPUT
+motor_B2.direction = digitalio.Direction.OUTPUT
+
+def stop():
+    motor_A1.value = False
+    motor_A2.value = False
+    motor_B1.value = False
+    motor_B2.value = False

ch-5/3-turning/motors_1_motor_turn.py

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+import time
+import robot
+
+robot.motor_A1.value = True
+time.sleep(0.3)
+robot.stop()

ch-5/3-turning/motors_2_motor_turn.py

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+import time
+import robot
+
+robot.motor_A1.value = True
+robot.motor_B2.value = True
+time.sleep(0.3)
+robot.stop()

ch-5/3-turning/robot.py

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+# Write your code here :-)
+import board
+import digitalio
+
+motor_A1 = digitalio.DigitalInOut(board.GP17)
+motor_A2 = digitalio.DigitalInOut(board.GP16)
+motor_B1 = digitalio.DigitalInOut(board.GP18)
+motor_B2 = digitalio.DigitalInOut(board.GP19)
+
+motor_A1.direction = digitalio.Direction.OUTPUT
+motor_A2.direction = digitalio.Direction.OUTPUT
+motor_B1.direction = digitalio.Direction.OUTPUT
+motor_B2.direction = digitalio.Direction.OUTPUT
+
+def stop():
+    motor_A1.value = False
+    motor_A2.value = False
+    motor_B1.value = False
+    motor_B2.value = False

ch-5/4-pwm/motors_convert_speed.py

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+import time
+import robot
+
+max_speed = 2**16-1
+
+robot.motor_A1.duty_cycle = int(0.8 * max_speed)
+time.sleep(0.3)
+robot.stop()

ch-5/4-pwm/motors_pwm_drive_slower.py

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+import time
+import board
+import pwmio
+
+A1_PWM = pwmio.PWMOut(board.GP17)
+
+A1_PWM.duty_cycle = 2**16-1
+time.sleep(0.3)
+A1_PWM.duty_cycle = 2**15
+time.sleep(0.3)
+A1_PWM.duty_cycle = 0

ch-5/4-pwm/motors_pwm_gentle_turn.py

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+import time
+import robot
+
+try:
+    robot.set_left(1.0)
+    robot.set_right(0.5)
+    time.sleep(1)
+finally:
+    robot.stop()

ch-5/4-pwm/motors_pwm_multispeed.py

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+import time
+import robot
+
+try:
+    for speed in range(5, 10):
+        robot.set_left(speed/10)
+        robot.set_right(speed/10)
+        time.sleep(0.3)
+finally:
+    robot.stop()

ch-5/4-pwm/with_helpers/robot.py

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+import board
+import pwmio
+
+motor_A1 = pwmio.PWMOut(board.GP17)
+motor_A2 = pwmio.PWMOut(board.GP16)
+motor_B1 = pwmio.PWMOut(board.GP18)
+motor_B2 = pwmio.PWMOut(board.GP19)
+
+def stop():
+    motor_A1.duty_cycle = 0
+    motor_A2.duty_cycle = 0
+    motor_B1.duty_cycle = 0
+    motor_B2.duty_cycle = 0
+
+max_speed = 2**16-1
+right_motor = motor_A1, motor_A2
+left_motor = motor_B1, motor_B2
+
+def set_speed(motor, speed):
+    # Swap motor pins if we reverse the speed
+    if speed < 0:
+        direction = motor[1], motor[0]
+        speed = -speed
+    else:
+        direction = motor
+    speed = min(speed, 1) # limit to 1.0
+
+    direction[0].duty_cycle = int(max_speed * speed)
+    direction[1].duty_cycle = 0
+
+def set_left(speed):
+    set_speed(left_motor, speed)
+
+def set_right(speed):
+    set_speed(right_motor, speed)

ch-5/4-pwm/with_pwm/robot.py

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+import board
+import pwmio
+
+motor_A1 = pwmio.PWMOut(board.GP17)
+motor_A2 = pwmio.PWMOut(board.GP16)
+motor_B1 = pwmio.PWMOut(board.GP18)
+motor_B2 = pwmio.PWMOut(board.GP19)
+
+def stop():
+    motor_A1.duty_cycle = 0
+    motor_A2.duty_cycle = 0
+    motor_B1.duty_cycle = 0
+    motor_B2.duty_cycle = 0
+

ch-5/5-path/pwm_drive_square.py

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+import time
+import robot
+
+def straight(speed, duration):
+    robot.set_left(speed)
+    robot.set_right(speed)
+    time.sleep(duration)
+
+def left(speed, duration):
+    robot.set_left(0)
+    robot.set_right(speed)
+    time.sleep(duration)
+
+try:
+    for n in range(0, 4):
+        straight(0.6, 1.0)
+        left(0.6, 1)
+finally:
+    robot.stop()
+

ch-5/5-path/robot.py

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+import board
+import pwmio
+
+motor_A1 = pwmio.PWMOut(board.GP17)
+motor_A2 = pwmio.PWMOut(board.GP16)
+motor_B1 = pwmio.PWMOut(board.GP18)
+motor_B2 = pwmio.PWMOut(board.GP19)
+
+right_motor = motor_A1, motor_A2
+left_motor = motor_B1, motor_B2
+
+def stop():
+    motor_A1.duty_cycle = 0
+    motor_A2.duty_cycle = 0
+    motor_B1.duty_cycle = 0
+    motor_B2.duty_cycle = 0
+
+def set_speed(motor, speed):
+    # Swap motor pins if we reverse the speed
+    if speed < 0:
+        direction = motor[1], motor[0]
+        speed = -speed
+    else:
+        direction = motor
+    speed = min(speed, 1) # limit to 1.0
+    max_speed = 2**16-1
+
+
+    direction[0].duty_cycle = int(max_speed * speed)
+    direction[1].duty_cycle = 0
+
+def set_left(speed):
+    set_speed(left_motor, speed)
+
+def set_right(speed):
+    set_speed(right_motor, speed)

ch-5/6-all/robot.py

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+# Write your code here :-)
+import board
+import digitalio
+
+motor_A1 = digitalio.DigitalInOut(board.GP17)
+motor_A2 = digitalio.DigitalInOut(board.GP16)
+motor_B1 = digitalio.DigitalInOut(board.GP18)
+motor_B2 = digitalio.DigitalInOut(board.GP19)
+
+motor_A1.direction = digitalio.Direction.OUTPUT
+motor_A2.direction = digitalio.Direction.OUTPUT
+motor_B1.direction = digitalio.Direction.OUTPUT
+motor_B2.direction = digitalio.Direction.OUTPUT
+
+def stop():
+    motor_A1.value = False
+    motor_A2.value = False
+    motor_B1.value = False
+    motor_B2.value = False