Rasptank control issues, I suspect move.py settings

1623762949

I have a Rasptank that turns left when commanded to turn left and turns right when commanded to turn right, but, moves forwards when commanded to move backwards and moves backwards when commanded to move forwards.  Do you know what the issue is and how to resolve it.  I have attached the  move.py file for reference:

1. pi@raspberrypi:~/adeept_rasptank/server $ cat move.py
   
2. #!/usr/bin/env python3
   
3. # File name   : move.py
   
4. # Description : Control Motor
   
5. # Product     : GWR
   
6. # Website     : www.gewbot.com
   
7. # Author      : William
   
8. # Date        : 2019/07/24
   
9. import time
   
10. import RPi.GPIO as GPIO
    
11. 
    
12. # motor_EN_A: Pin7  |  motor_EN_B: Pin11
    
13. # motor_A:  Pin8,Pin10    |  motor_B: Pin13,Pin12
    
14. 
    
15. Motor_A_EN    = 4
    
16. Motor_B_EN    = 17
    
17. 
    
18. Motor_A_Pin1  = 14
    
19. Motor_A_Pin2  = 15
    
20. Motor_B_Pin1  = 27
    
21. Motor_B_Pin2  = 18
    
22. 
    
23. Dir_forward   = 0
    
24. Dir_backward  = 1
    
25. 
    
26. left_forward  = 0
    
27. left_backward = 1
    
28. 
    
29. right_forward = 0
    
30. right_backward= 1
    
31. 
    
32. pwm_A = 0
    
33. pwm_B = 0
    
34. 
    
35. def motorStop():#Motor stops
    
36.         GPIO.output(Motor_A_Pin1, GPIO.LOW)
    
37.         GPIO.output(Motor_A_Pin2, GPIO.LOW)
    
38.         GPIO.output(Motor_B_Pin1, GPIO.LOW)
    
39.         GPIO.output(Motor_B_Pin2, GPIO.LOW)
    
40.         GPIO.output(Motor_A_EN, GPIO.LOW)
    
41.         GPIO.output(Motor_B_EN, GPIO.LOW)
    
42. 
    
43. 
    
44. def setup():#Motor initialization
    
45.         global pwm_A, pwm_B
    
46.         GPIO.setwarnings(False)
    
47.         GPIO.setmode(GPIO.BCM)
    
48.         GPIO.setup(Motor_A_EN, GPIO.OUT)
    
49.         GPIO.setup(Motor_B_EN, GPIO.OUT)
    
50.         GPIO.setup(Motor_A_Pin1, GPIO.OUT)
    
51.         GPIO.setup(Motor_A_Pin2, GPIO.OUT)
    
52.         GPIO.setup(Motor_B_Pin1, GPIO.OUT)
    
53.         GPIO.setup(Motor_B_Pin2, GPIO.OUT)
    
54. 
    
55.         motorStop()
    
56.         try:
    
57.                 pwm_A = GPIO.PWM(Motor_A_EN, 1000)
    
58.                 pwm_B = GPIO.PWM(Motor_B_EN, 1000)
    
59.         except:
    
60.                 pass
    
61. 
    
62. 
    
63. def motor_left(status, direction, speed):#Motor 2 positive and negative rotation
    
64.         if status == 0: # stop
    
65.                 GPIO.output(Motor_B_Pin1, GPIO.LOW)
    
66.                 GPIO.output(Motor_B_Pin2, GPIO.LOW)
    
67.                 GPIO.output(Motor_B_EN, GPIO.LOW)
    
68.         else:
    
69.                 if direction == Dir_backward:
    
70.                         GPIO.output(Motor_B_Pin1, GPIO.HIGH)
    
71.                         GPIO.output(Motor_B_Pin2, GPIO.LOW)
    
72.                         pwm_B.start(100)
    
73.                         pwm_B.ChangeDutyCycle(speed)
    
74.                 elif direction == Dir_forward:
    
75.                         GPIO.output(Motor_B_Pin1, GPIO.LOW)
    
76.                         GPIO.output(Motor_B_Pin2, GPIO.HIGH)
    
77.                         pwm_B.start(0)
    
78.                         pwm_B.ChangeDutyCycle(speed)
    
79. 
    
80. 
    
81. def motor_right(status, direction, speed):#Motor 1 positive and negative rotation
    
82.         if status == 0: # stop
    
83.                 GPIO.output(Motor_A_Pin1, GPIO.LOW)
    
84.                 GPIO.output(Motor_A_Pin2, GPIO.LOW)
    
85.                 GPIO.output(Motor_A_EN, GPIO.LOW)
    
86.         else:
    
87.                 if direction == Dir_forward:#
    
88.                         GPIO.output(Motor_A_Pin1, GPIO.HIGH)
    
89.                         GPIO.output(Motor_A_Pin2, GPIO.LOW)
    
90.                         pwm_A.start(100)
    
91.                         pwm_A.ChangeDutyCycle(speed)
    
92.                 elif direction == Dir_backward:
    
93.                         GPIO.output(Motor_A_Pin1, GPIO.LOW)
    
94.                         GPIO.output(Motor_A_Pin2, GPIO.HIGH)
    
95.                         pwm_A.start(0)
    
96.                         pwm_A.ChangeDutyCycle(speed)
    
97.         return direction
    
98. 
    
99. 
    
100. def move(speed, direction, turn, radius=0.6):   # 0 < radius <= 1  
     
101.         #speed = 100
     
102.         if direction == 'forward':
     
103.                 if turn == 'right':
     
104.                         motor_left(0, left_backward, int(speed*radius))
     
105.                         motor_right(1, right_forward, speed)
     
106.                 elif turn == 'left':
     
107.                         motor_left(1, left_forward, speed)
     
108.                         motor_right(0, right_backward, int(speed*radius))
     
109.                 else:
     
110.                         motor_left(1, left_forward, speed)
     
111.                         motor_right(1, right_forward, speed)
     
112.         elif direction == 'backward':
     
113.                 if turn == 'right':
     
114.                         motor_left(0, left_forward, int(speed*radius))
     
115.                         motor_right(1, right_backward, speed)
     
116.                 elif turn == 'left':
     
117.                         motor_left(1, left_backward, speed)
     
118.                         motor_right(0, right_forward, int(speed*radius))
     
119.                 else:
     
120.                         motor_left(1, left_backward, speed)
     
121.                         motor_right(1, right_backward, speed)
     
122.         elif direction == 'no':
     
123.                 if turn == 'right':
     
124.                         motor_left(1, left_backward, speed)
     
125.                         motor_right(1, right_forward, speed)
     
126.                 elif turn == 'left':
     
127.                         motor_left(1, left_forward, speed)
     
128.                         motor_right(1, right_backward, speed)
     
129.                 else:
     
130.                         motorStop()
     
131.         else:
     
132.                 pass
     
133. 
     
134. 
     
135. 
     
136. 
     
137. def destroy():
     
138.         motorStop()
     
139.         GPIO.cleanup()             # Release resource
     
140. 
     
141. 
     
142. if __name__ == '__main__':
     
143.         try:
     
144.                 speed_set = 60
     
145.                 setup()
     
146.                 move(speed_set, 'forward', 'no', 0.8)
     
147.                 time.sleep(1.3)
     
148.                 motorStop()
     
149.                 destroy()
     
150.         except KeyboardInterrupt:
     
151.                 destroy()
     
152. 
     
153. pi@raspberrypi:~/adeept_rasptank/server $ ifconfig
     

Copy the Code

1571366253

have you tried to swap Dir_forward =0 to =1 and same for Dir_backward =1 to =0 ?

Caveman Chris

I had a similar problem.  If the forward/backward were correct, left and right and if I fixed left and right, forward/backward were wrong.  I swapped the pin numbers to fix it.

Motor_A_EN    = 4
Motor_B_EN    = 17

Motor_A_Pin1  = 14
Motor_A_Pin2  = 15
Motor_B_Pin1  = 27
Motor_B_Pin2  = 18

1638982355

They got it wrong in this block:

elif direction == 'no':
                if turn == 'right':
                        motor_left(1, left_backward, speed)
                        motor_right(1, right_forward, speed)
                elif turn == 'left':
                        motor_left(1, left_forward, speed)
                        motor_right(1, right_backward, speed)

If you want to turn right, the right side needs to move backward and the left side needs to move forward. They mixed it up. Change the four lines and everything will be alright.

elif direction == 'no':
                if turn == 'right':
                        motor_left(1, left_forward, speed)
                        motor_right(1, right_backward, speed)
                elif turn == 'left':
                        motor_left(1, left_backward, speed)
                        motor_right(1, right_forward, speed)

1649661766

best post

1649661766

This is very informative coding, I can use this coding in my website
Expert Book Writers

Adeept_Devin

You can modify lines 22-23 of adeept_rasptank/server/move.py.
Change：
Dir_forward = 0
Dir_backward = 1
To:
Dir_forward = 1
Dir_backward = 0

Please see the Q&A in the link: https://www.adeept.com/learn/tutorial-389.html