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import RPi.GPIO as GPIO
import time
import sys
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
# définition des variables
pin1=11
pin2=12
pin3=13
pin4=15
pin5=16
pin6=18
pin7=22
pin8=7
#GPIO_TRIGGER = 38
#GPIO_ECHO = 40
# définition des broches
GPIO.setup(pin1,GPIO.OUT)
GPIO.setup(pin2,GPIO.OUT)
GPIO.setup(pin3,GPIO.OUT)
GPIO.setup(pin4,GPIO.OUT)
GPIO.setup(pin5,GPIO.OUT)
GPIO.setup(pin6,GPIO.OUT)
GPIO.setup(pin7,GPIO.OUT)
GPIO.setup(pin8,GPIO.OUT)
#GPIO.setup(GPIO_TRIGGER, GPIO.OUT)
#GPIO.setup(GPIO_ECHO, GPIO.IN)
# définition des variables
Apin1=[0,1,0,0,1]
Apin2=[0,1,1,0,0]
Apin3=[0,0,1,1,0]
Apin4=[0,0,0,1,1]
Apin5=[0,1,0,0,1]
Apin6=[0,1,1,0,0]
Apin7=[0,0,1,1,0]
Apin8=[0,0,0,1,1]
position=0
#Avancer=0
#Reculer=0
#AvancerDroite=0
#AvancerGauche=0
#ReculerDroite=0
#ReculerGauche=0
#def distance():
# GPIO.output(GPIO_TRIGGER, True)
# time.sleep(0.00001)
# GPIO.output(GPIO_TRIGGER, False)
# StartTime = time.time()
# StopTime = time.time()
# while GPIO.input(GPIO_ECHO) == 0:
# StartTime = time.time()
# while GPIO.input(GPIO_ECHO) == 1:
# StopTime = time.time()
# TimeElapsed = StopTime - StartTime
# distance = (TimeElapsed * 34300) / 2
# return distance
def Avancer(position):
print("avancer")
i=position&2 + 1
GPIO.output(pin1,Apin1[-i])
GPIO.output(pin2,Apin2[-i])
GPIO.output(pin3,Apin3[-i])
GPIO.output(pin4,Apin4[-i])
GPIO.output(pin5,Apin5[i])
GPIO.output(pin6,Apin6[i])
GPIO.output(pin7,Apin7[i])
GPIO.output(pin8,Apin8[i])
time.sleep(.003)
position= position + 1
return position
def AvancerDroite(position):
print("avancer droite")
i=position&2 + 1
GPIO.output(pin1,Apin1[i])
GPIO.output(pin2,Apin2[i])
GPIO.output(pin3,Apin3[i])
GPIO.output(pin4,Apin4[i])
GPIO.output(pin5,Apin5[i])
GPIO.output(pin6,Apin6[i])
GPIO.output(pin7,Apin7[i])
GPIO.output(pin8,Apin8[i])
time.sleep(.003)
position= position + 1
return position
def AvancerGauche(position):
print("avancer gauche")
i=position&2 + 1
GPIO.output(pin1,Apin1[i])
GPIO.output(pin2,Apin2[i])
GPIO.output(pin3,Apin3[i])
GPIO.output(pin4,Apin4[i])
GPIO.output(pin5,Apin5[i])
GPIO.output(pin6,Apin6[i])
GPIO.output(pin7,Apin7[i])
GPIO.output(pin8,Apin8[i])
time.sleep(.003)
position= position - 1
return position
def Reculer(position):
print("reculer")
i=position&2 + 1
GPIO.output(pin1,Apin1[-i])
GPIO.output(pin2,Apin2[-i])
GPIO.output(pin3,Apin3[-i])
GPIO.output(pin4,Apin4[-i])
GPIO.output(pin5,Apin5[i])
GPIO.output(pin6,Apin6[i])
GPIO.output(pin7,Apin7[i])
GPIO.output(pin8,Apin8[i])
time.sleep(.003)
position = position - 1
return position
def ReculerDroite(position):
print("reculer droite")
i=position&2 + 1
GPIO.output(pin1,Apin1[-i])
GPIO.output(pin2,Apin2[-i])
GPIO.output(pin3,Apin3[-i])
GPIO.output(pin4,Apin4[-i])
GPIO.output(pin5,Apin5[-i])
GPIO.output(pin6,Apin6[-i])
GPIO.output(pin7,Apin7[-i])
GPIO.output(pin8,Apin8[-i])
time.sleep(.003)
position= position + 1
return position
def ReculerGauche(position):
print("reculer gauche")
i=position&2 + 1
GPIO.output(pin1,Apin1[-i])
GPIO.output(pin2,Apin2[-i])
GPIO.output(pin3,Apin3[-i])
GPIO.output(pin4,Apin4[-i])
GPIO.output(pin5,Apin5[-i])
GPIO.output(pin6,Apin6[-i])
GPIO.output(pin7,Apin7[-i])
GPIO.output(pin8,Apin8[-i])
time.sleep(.003)
position= position - 1
return position
# programme principal
try:
while True:
#dist = distance()
#print ("%.1f cm" % dist)
print (position)
#if(dist<= 5):
Reculer(position)
time.sleep(2)
ReculerDroite(position)
time.sleep(2)
ReculerGauche(position)
time.sleep(2)
#else:
Avancer(position)
time.sleep(2)
AvancerDroite(position)
time.sleep(2)
AvancerGauche(position)
time.sleep(2)
# remise en place de tous les GPIO
except KeyboardInterrupt:
GPIO.cleanup() |
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