Included PWM

mappingbot/driving.py

 # Libraries
 import RPi.GPIO as GPIO
 import time
-import Encoder from encoder
+from encoder import Encoder
 #import PWMoutputFunction
 
 # GPIO Mode (BOARD / BCM)
 GPIO.setmode(GPIO.BCM)
 print(GPIO.VERSION)
+LEFTMOTOR = 17
+GPIO.setup(LEFTMOTOR, GPIO.OUT)
 
 class Driving:
     def __init__ (self):
@@ -23,13 +25,11 @@ class Driving:
         self.rotationspeed = 0.2 #speed in PWM percentage
         self.leftPWM = 0
         self.rightPWM =0
-        self.encoderLeft= Encoder(left,23) 
-        self.encoderRight = Encoder(right,24)
-
+        self.encoderLeft = Encoder(name="encoder1", encoder_pin=23)
+        self.encoderRight = Encoder(name="encoder1", encoder_pin=24)
 
     def stop(self):
         self.speed= 0
-    
 
     def driveForward(self, distance, speed):
         #reset pulse count
@@ -78,29 +78,51 @@ class Driving:
         self.currentPulseCountRight= self.encoderRight.get_pulse_count()
         
         if  self.currentPulseCountLeft >= self.setpointPulseCountLeft:
-            self.leftPWM =0
+            self.leftPWM = 0
         elif self.currentPulseCountLeft >= self.setpointPulseCountLeft-5:
             self.leftPWM = self.speed*0.5
-        elif self.currentPulseCountLeft	 >= self.setpointPulseCountLeft-2:
+        elif self.currentPulseCountLeft >= self.setpointPulseCountLeft-2:
             self.leftPWM = self.speed*0.1
-        else
+        else:
             self.leftPWM = self.speed
 
-
-        if self.setpointPulseCountRight >= self.currentPulseCountRight:
-            self.rightPWM =0
+        #if self.setpointPulseCountRight >= self.currentPulseCountRight:
+        if self.currentPulseCountRight >= self.setpointPulseCountRight:
+            self.rightPWM = 0
         elif self.currentPulseCountRight >= self.setpointPulseCountRight-5:
             self.rightPWM = self.speed*0.5
-        elif self.currentPulseCountRight	 >= self.setpointPulseCountRight-2:
+        elif self.currentPulseCountRight >= self.setpointPulseCountRight-2:
             self.rightPWM = self.speed*0.1
-        else
+        else:
             self.rightPWM = self.speed
 
-        # safty control, left and right PWM should always be the same. If not, chose the smaler one
+        # safty control, left and right PWM should always be the same. If not, choose the smaller one
         if self.leftPWM > self.rightPWM:
             self.leftPWM = self.rightPWM
         if self.rightPWM > self.leftPWM:
             self.rightPWM = self.leftPWM 
 
+        return self.leftPWM, self.rightPWM, self.directionLeftWheel, self.directionRightWheel
+
+
+try:
+    motor = Driving()
+    motor.__init__()
+    leftPin = GPIO.PWM(LEFTMOTOR, 50)
+    leftPin.start(0)
+    motor.driveForward(30, 1)
+    while True:
+        leftDC, rightDC, dir1, dir2 = motor.getPWM()
+        leftPin.ChangeDutyCycle(leftDC)
+        print(leftDC)
+        time.sleep(0.01)
+
+
+except KeyboardInterrupt:  # Exit by pressing CTRL + C
+    leftPin.stop()
+    GPIO.cleanup()
+    print("Measurement stopped by User")
+finally:
+    leftPin.stop()
+    GPIO.cleanup()
 
-        return self.leftPWM,self.rightPWM, self.directionLeftWheel, self.directionRightWheel
\ No newline at end of file