ex.py 文件源码

def __init__(self, left, right, enable_pin):
        """Constructor.

        Args:
            forward_pin (int): GPIO pin connected to motor's forward pin.
            backward_pin (int): GPIO pin connected to motor's backward pin.
            enable_pin (int): GPIO pin connected to motor's enable pin
        """
        # store pins
        self.left_pin       = left
        self.right_pin      = right
        self.pwm_pin        = enable_pin
        self.turn_direction = 0.0; # [-1, 1] 

        GPIO.setup( [self.left_pin, self.right_pin, self.pwm_pin], GPIO.OUT, initial=False)

        # frequency (Hz) second parameter
        self.pwm = GPIO.PWM(self.pwm_pin, 100)

        self.pwm.start(0.0)

        # initial direction: 0.0
        # self.change_dir(True);