first commit

old_worker.py

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+'''
+worker模块包含两个类：Motor和port_enaMotor
+前者就是普通的马达，后者多了一个启用的端口。
+'''
+from time import sleep
+import RPi.GPIO as GPIO
+
+
+class Motor():
+    '''
+    步进电机
+    '''
+
+    def __init__(self, port_dir, port_pul, degree_per_cycle, steps):
+        self.port_dir = port_dir
+        self.port_pul = port_pul
+        self.degree_per_cycle = degree_per_cycle
+        self.steps = steps
+        GPIO.setup(port_dir, GPIO.OUT, initial=GPIO.HIGH)
+        GPIO.setup(port_pul, GPIO.OUT, initial=GPIO.HIGH)
+
+    def turn_degree(self, degree, direction):
+        '''
+        转动角度
+        '''
+        GPIO.output(self.port_dir, direction)
+        cycle = int(degree / self.degree_per_cycle * self.steps)
+        for _ in range(cycle):
+            GPIO.output(self.port_pul, GPIO.LOW)
+            sleep(0.0001)
+            GPIO.output(self.port_pul, GPIO.HIGH)
+            sleep(0.0001)
+
+
+class ENAMotor(Motor):
+    '''
+    带有port_ena信号的步进电机
+    '''
+
+    def __init__(self, port_dir, port_pul, degree_per_cycle, steps, port_ena):
+        super(ENAMotor, self).__init__(
+            port_dir, port_pul, degree_per_cycle, steps)
+        self.port_ena = port_ena
+        GPIO.setup(port_ena, GPIO.OUT, initial=GPIO.HIGH)
+
+    def enable(self):
+        '''
+        启用电机
+        '''
+        GPIO.output(self.port_ena, GPIO.LOW)
+
+    def disable(self):
+        '''
+        停用电机
+        '''
+        GPIO.output(self.port_ena, GPIO.HIGH)
+
+
+class VibratorMotor:
+    '''震动马达'''
+
+    def __init__(self, port):
+        '''
+        初始化
+        '''
+        self.port = port
+        GPIO.setup(port, GPIO.OUT, initial=GPIO.LOW)
+
+    def enable(self):
+        '''开始震动'''
+        GPIO.output(self.port, GPIO.HIGH)
+
+    def disable(self):
+        '''停止震动'''
+        GPIO.output(self.port, GPIO.LOW)
+
+
+class Servo:
+    '''舵机'''
+
+    def __init__(self, port):
+        '''初始化'''
+        self.port = port
+        GPIO.setup(port, GPIO.OUT, initial=GPIO.LOW)
+
+    def degree(self, degree):
+        '''转到某个角度'''
+        dc = (degree / 180 * 2 + 0.5) * 5
+        p = GPIO.PWM(self.port, 50)
+        p.start(dc)
+        sleep(1)
+        p.stop()
+
+
+class Relay:
+    "继电器"
+
+    def __init__(self, port):
+        self.port = port
+        GPIO.setup(port, GPIO.OUT, initial=GPIO.LOW)
+
+    def enable(self):
+        GPIO.output(self.port, GPIO.HIGH)
+
+    def disable(self):
+        GPIO.output(self.port, GPIO.LOW)