fixed some stuff

mappingbot/driving.py

@@ -3,14 +3,15 @@ import RPi.GPIO as GPIO
 import time
 from encoder import Encoder
 #import PWMoutputFunction
-
+GPIO.cleanup()
 # GPIO Mode (BOARD / BCM)
 GPIO.setmode(GPIO.BCM)
 print(GPIO.VERSION)
-LEFTMOTORFORWARDPIN = 12
-LEFTMOTORBACKWARDPIN = 13
-RIGHTMOTORFORWARDPIN = 20
-RIGHTMOTORBACKWARDPIN = 26
+
+LEFTMOTORFORWARDPIN = 20
+LEFTMOTORBACKWARDPIN = 26
+RIGHTMOTORFORWARDPIN = 12
+RIGHTMOTORBACKWARDPIN = 13
 GPIO.setup(LEFTMOTORFORWARDPIN, GPIO.OUT)
 GPIO.setup(LEFTMOTORBACKWARDPIN, GPIO.OUT)
 GPIO.setup(RIGHTMOTORFORWARDPIN, GPIO.OUT)
@@ -23,16 +24,18 @@ class Driving:
         self.setpointPulseCuntRight =0
         self.currentPulseCountLeft =0
         self.currentPulseCountRight=0
-        self.directionLeftWheel = True #true = forward
-        self.directionRightWheel = True #true = forward
+        self.directionLeftWheel = True # true = forward
+        self.directionRightWheel = True # true = forward
         self.pulsesPerRotation = 40
         self.pulsesPer45DegreeCarRotation =10
-        self.speed = 0 #speed in PWM percentage
-        self.rotationspeed = 0.2 #speed in PWM percentage
+        self.speed = 0 # speed in PWM dutycycle, ranges from 0 to 100
+        self.rotationspeed = 0.2 # speed in PWM dutycycle
         self.leftPWM = 0
         self.rightPWM =0
-        self.encoderLeft = Encoder(name="encoder1", encoder_pin=23)
-        self.encoderRight = Encoder(name="encoder1", encoder_pin=24)
+        self.encoderLeft = Encoder(name="encoderLeft", encoder_pin=23)
+        self.encoderRight = Encoder(name="encoderRight", encoder_pin=24)
+        self.encoderLeft.init_callback()
+        self.encoderRight.init_callback()
 
     def stop(self):
         self.speed= 0
@@ -82,6 +85,7 @@ class Driving:
     def getPWM(self,):
         self.currentPulseCountLeft = self.encoderLeft.get_pulse_count()
         self.currentPulseCountRight= self.encoderRight.get_pulse_count()
+        print("pulseCnt: " + str(self.currentPulseCountLeft) + "    setpoint: " + str(self.setpointPulseCountLeft))
         
         if  self.currentPulseCountLeft >= self.setpointPulseCountLeft:
             self.leftPWM = 0
@@ -126,7 +130,7 @@ try:
     leftPinB.start(0)
     rightPinF.start(0)
     rightPinB.start(0)
-    motor.driveForward(30, 1)
+    motor.driveForward(30, 50)
 
     while True:
         # Update PWM to motordriver according to getPWM()
@@ -144,7 +148,6 @@ try:
         else:
             rightPinB.ChangeDutyCycle(rightDC)
             rightPinF.ChangeDutyCycle(0)
-        #print(leftDC)
         time.sleep(0.1)