Program can successfully drive motors!

l293d/l293d.py

@@ -4,26 +4,27 @@
 from time import sleep
 from threading import Thread
 
+verbose = True # Prints stuff to the terminal
+test_mode = False # Disables GPIO calls when true
+pins_in_use = [] # Lists pins in use (all motors)
+
 from info import version
 print('L293D driver version ' + version.num_string)
 
 try:
     import RPi.GPIO as GPIO
 except Exception as e:
-    print('RPi.GPIO not installed.')
+    print("Can't import RPi.GPIO. Please (re)install.")
     test_mode = True
     print('Test mode has been enabled. Please view README for more info.')
 
 if not test_mode:
     try:
         GPIO.setmode(GPIO.BOARD)
+        GPIO.setwarnings(False)
         if verbose: print('GPIO mode set (GPIO.BOARD)')
     except Exception as e:
-        print('Can\'t set GPIO mode (GPIO.BOARD)')
-
-verbose = True # Prints stuff to the terminal
-test_mode = True # Disables GPIO calls when true
-pins_in_use = []
+        print("Can't set GPIO mode (GPIO.BOARD)")
 
 class motor(object):
     """
@@ -36,59 +37,67 @@ class motor(object):
     motor_pins = [0 for x in range(3)]
 
     def __init__(self, pinA=0, pinB=0, pinC=0):
-        self.pinA = pinA
-        self.pinB = pinB
-        self.pinC = pinC
+        self.motor_pins[0] = pinA
+        self.motor_pins[1] = pinB
+        self.motor_pins[2] = pinC
 
-        self.pins_are_valid(pinA, pinB, pinC)
-        pins_in_use.append([pinA, pinB, pinC])
-        self.gpio_setup(pinA, pinB, pinC)
+        self.pins_are_valid(self.motor_pins)
+        pins_in_use.append(self.motor_pins)
+        self.gpio_setup(self.motor_pins)
 
 
-    def pins_are_valid(self, pinA, pinB, pinC):
-        pins = [pinA, pinB, pinC]
+    def pins_are_valid(self, pins):
         for pin in pins:
             pin_int = int(pin)
             if (pin_int < 1) or (pin_int > 40):
                 raise ValueError('GPIO pin number needs to be between 1 and 40 inclusively.')
-            for motor in pins_in_use:
-                if pin_int in motor:
+            for pin_in_use in pins_in_use:
+                if pin_int in pin_in_use:
                     raise ValueError('GPIO pin {} already in use.'.format(pin_int))
         self.motor_pins = pins
         return True
 
 
-    def gpio_setup(self, A, B, C):
-        for pin in [A, B, C]:
+    def gpio_setup(self, pins):
+        for pin in pins:
             if not test_mode: GPIO.setup(pin, GPIO.OUT)
 
 
-    def spin(self, direction=1, duration=None, wait=True):
-        if verbose: print('spinning motor at {} clockwise.'.format(self.pins_string_list()))
-        # Code to start to spin motor (self) according to direction
-        if duration is not None:
+    def drive_motor(self, direction=1, duration=None, wait=True):
+        if not test_mode:
+            if (direction == 0):
+                GPIO.output(self.motor_pins[0], GPIO.LOW)
+            else:
+                GPIO.output(self.motor_pins[direction], GPIO.HIGH)
+                GPIO.output(self.motor_pins[direction*-1], GPIO.LOW)
+                GPIO.output(self.motor_pins[0], GPIO.HIGH)
+        if (duration is not None) and (direction != 0):
             stop_thread = Thread(target=self.stop, args = (duration, ))
             stop_thread.start()
             if wait:
                 stop_thread.join()
 
 
     def pins_string_list(self):
-        return '[{}, {} and {}]'.format(str(self.pinA), str(self.pinB), str(self.pinC))
+        return '[{}, {} and {}]'.format(tuple(self.motor_pins))
 
 
     def spin_clockwise(self, duration=None, wait=True):
-        self.spin(direction=1, duration=duration, wait=wait)
+        if verbose: print('spinning motor at pins {} clockwise.'.format(str(self)))
+        self.drive_motor(direction=1, duration=duration, wait=wait)
 
 
     def spin_anticlockwise(self, duration=None, wait=True):
-        self.spin(direction=-1, duration=duration, wait=wait)
+        if verbose: print('spinning motor at pins {} anticlockwise.'.format(str(self)))
+        self.drive_motor(direction=-1, duration=duration, wait=wait)
 
 
     def stop(self, after=0):
         if after > 0: sleep(after)
-        if verbose: print('stopping {}.'.format(str(self)))
+        if verbose: print('stopping motor at pins {}.'.format(str(self)))
+        if not test_mode: self.drive_motor(direction=0, duration=after, wait=True)
 
 
 def cleanup():
     if not test_mode: GPIO.cleanup()
+

l293d/tellus-l392d_test.py

@@ -0,0 +1,10 @@
+from time import sleep
+import l293d
+
+m1 = l293d.motor(22, 16, 18)
+
+m1.spin_clockwise(1)
+sleep(1)
+m1.spin_anticlockwise()
+m1.stop(2)
+