Added pwm for all channels

mappingbot/driving.py

@@ -7,8 +7,14 @@ from encoder import Encoder
 # GPIO Mode (BOARD / BCM)
 GPIO.setmode(GPIO.BCM)
 print(GPIO.VERSION)
-LEFTMOTOR = 17
-GPIO.setup(LEFTMOTOR, GPIO.OUT)
+LEFTMOTORFORWARDPIN = 12
+LEFTMOTORBACKWARDPIN = 13
+RIGHTMOTORFORWARDPIN = 20
+RIGHTMOTORBACKWARDPIN = 26
+GPIO.setup(LEFTMOTORFORWARDPIN, GPIO.OUT)
+GPIO.setup(LEFTMOTORBACKWARDPIN, GPIO.OUT)
+GPIO.setup(RIGHTMOTORFORWARDPIN, GPIO.OUT)
+GPIO.setup(RIGHTMOTORBACKWARDPIN, GPIO.OUT)
 
 class Driving:
     def __init__ (self):
@@ -106,23 +112,54 @@ class Driving:
 
 
 try:
+    # LEFTMOTORFORWARDPIN = 12
+    # LEFTMOTORBACKWARDPIN = 13
+    # RIGHTMOTORFORWARDPIN = 20
+    # RIGHTMOTORBACKWARDPIN = 26
     motor = Driving()
     motor.__init__()
-    leftPin = GPIO.PWM(LEFTMOTOR, 50)
-    leftPin.start(0)
+    leftPinF = GPIO.PWM(LEFTMOTORFORWARDPIN, 50)
+    leftPinB = GPIO.PWM(LEFTMOTORBACKWARDPIN, 50)
+    rightPinF = GPIO.PWM(RIGHTMOTORFORWARDPIN, 50)
+    rightPinB = GPIO.PWM(RIGHTMOTORBACKWARDPIN, 50)
+    leftPinF.start(0)
+    leftPinB.start(0)
+    rightPinF.start(0)
+    rightPinB.start(0)
     motor.driveForward(30, 1)
+
     while True:
-        leftDC, rightDC, dir1, dir2 = motor.getPWM()
-        leftPin.ChangeDutyCycle(leftDC)
-        print(leftDC)
-        time.sleep(0.01)
+        # Update PWM to motordriver according to getPWM()
+        leftDC, rightDC, dirLeft, dirRight = motor.getPWM()
+        if dirLeft:
+            leftPinF.ChangeDutyCycle(leftDC)
+            leftPinB.ChangeDutyCycle(0)
+        else:
+            leftPinB.ChangeDutyCycle(leftDC)
+            leftPinF.ChangeDutyCycle(0)
+
+        if dirRight:
+            rightPinF.ChangeDutyCycle(rightDC)
+            rightPinB.ChangeDutyCycle(0)
+        else:
+            rightPinB.ChangeDutyCycle(rightDC)
+            rightPinF.ChangeDutyCycle(0)
+        #print(leftDC)
+        time.sleep(0.1)
 
 
 except KeyboardInterrupt:  # Exit by pressing CTRL + C
-    leftPin.stop()
+    leftPinF.stop()
+    leftPinB.stop()
+    rightPinF.stop()
+    rightPinB.stop()
+
     GPIO.cleanup()
     print("Measurement stopped by User")
 finally:
-    leftPin.stop()
+    leftPinF.stop()
+    leftPinB.stop()
+    rightPinF.stop()
+    rightPinB.stop()
     GPIO.cleanup()