MakingActuatorsReverseInMotion...

#!/usr/bin/python3

# Use this idea w/ making motors go in reverse...

import Adafruit_BBIO.GPIO as GPIO
import Adafruit_BBIO.PWM as PWM

class Motor:
    def __init__( self, dir_pin, pwm_pin, pwm_freq ):
        self.dir_pin = dir_pin
        self.pwm_pin = pwm_pin
        self.value = 0

        PWM.start( pwm_pin, 0, pwm_freq )
        GPIO.setup( dir_pin, GPIO.OUT )

    def set( self, value ):
        assert -100 <= value <= 100
        if ( value < 0 ) != ( self.value < 0 ):
            # changing direction
            PWM.set_duty_cycle( self.pwm_pin, 0 )
            GPIO.output( self.dir_pin, value < 0 )
        PWM.set_duty_cycle( self.pwm_pin, abs( value ) )
        self.value = value

motor1 = Motor( dir_pin = "P8_18", pwm_pin = "P9_16", pwm_freq = 2000 )
motor2 = Motor( dir_pin = "P8_16", pwm_pin = "P9_14", pwm_freq = 2000 )
motor3 = Motor( dir_pin = "P8_14", pwm_pin = "P8_13", pwm_freq = 2000 )
motor4 = Motor( dir_pin = "P8_26", pwm_pin = "P8_19", pwm_freq = 2000 )


# simple test
import time
motor1.set( 100 )  # forward full speed
time.sleep( 1 )
motor1.set( 50 )  # forward half speed
time.sleep( 1 )
motor1.set( 0 )  # stop
time.sleep( 1 )
motor1.set( -50 )  # reverse half speed
time.sleep( 1 )
motor1.set( 0 )  # stop