French FX-7 robot

Projects
Participants	Mi1es
Skills	Electronics, Soldering, Programming, Creative thinking
Status	Active
Niche	Electronics
Purpose	World domination

"Contrôle système! Contrôle système!"

Work done

Machine has been taken apart.. blblblalbla

H-bridge board has all the transistors of the original board on it for 4 full H-bridges that can drive all of the four bi-directional motors.

Layout is as follows , with the connectors of the motors facing you:

• First block, gpio18, w1, gpio4, w7, Left tread
• Second block, gpio17,w0, gpio23,w4, Right treads
• Third block: gpio27,w2, gpio22,w3, hip
• Fourth block: gpio24, w5, gpio25,w6, arms

Python code

import RPi.GPIO as gpio
import time
import pygame
from pygame.locals import *


gpio.setmode(gpio.BOARD)
gpio.setup(7, gpio.OUT)
gpio.setup(11, gpio.OUT)
gpio.setup(13, gpio.OUT)
gpio.setup(15, gpio.OUT)

gpio.output(7, True)
gpio.output(11, True)

 while True:
    gpio.output(13, True)
    gpio.output(15, False)
    time.sleep(2)
    gpio.output(13, False)
    gpio.output(15, True)
    time.sleep(2)

pygame.init()
screen = pygame.display.set_mode((640,480))
pygame.display.set_caption("Pygame")
pygame.mouse.set_visible(0)

done = False
enable = 0
direction = 0
while not done:
    for event in pygame.event.get():
        if(event.type==KEYDOWN):
            print event
            if(event.key==273):
                direction=1;
                enable=1;
            if(event.key==274):
                direction=-1;
                enable=1;     
        if(event.type==KEYUP):
            print event
            if(event.key==273):
                direction=0;
                enable=0;
            if(event.key==274):
                direction=0;
                enable=0;

        if(enable==1):
            if(direction==1):
                print "Forwards"
                gpio.output(13, False)
                gpio.output(15, True)
            if(direction==-1):
                print "Backwards"
                gpio.output(13, True)
                gpio.output(15, False)
        else:
            gpio.output(13, False)
            gpio.output(15, False)

With this code-shim you can test the function of your code even without having RPi.GPIO loaded (like on most PC's)

class FAKEGPIO:
  def __init__(self):
    self.BOARD=1
    self.OUT=0
    self.IN=1
  def setmode(self,variant):
    print "Call: setmode: variant -> " + str(variant)
  def setup(self,pin, type):
    print "Call: setup : pin -> " + str(pin) + ", type -> " + str(type)
  def output(self,pin,state):
    print "Out:" + str(pin) + "-> " + str(state)

gpio = FAKEGPIO()