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edited Dec 17, 2018 at 17:45

import RPi.GPIO as GPIO
import time
import threading
import datetime

GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)

#set up GPIO pin outputs for servo motors
GPIO.setup(11, GPIO.OUT)
GPIO.setup(13, GPIO.OUT)
GPIO.setup(15, GPIO.OUT)

#set up pwm for the pins
pwm1 = GPIO.PWM(11, 50)
pwm2 = GPIO.PWM(13, 50)
pwm3 = GPIO.PWM(15, 50)

#set up controlling boolean values
boolean_1 = False
boolean_2= False
boolean_3= False
boolean_4= False

def function3():
    global boolean_1 , pwm3
    pwm3.start(0)
    while move_forwardboolean_1:
        for i in range(70, 110):
            position = 1./18.*(i)+2
            pwm3.ChangeDutyCycle(position)
            time.sleep(0.015)
        for i in range(110, 70, -1):
            position = 1./18.*(i)+2
            pwm3.ChangeDutyCycle(position)
            time.sleep(0.015)
    for i in range(70, 90):
        position = 1./18.*(i)+2
        pwm3.ChangeDutyCycle(position)
        time.sleep(0.001)
    pwm3.stop()

def function2():
    global boolean_2, pwm1, pwm2
    pwm1.start(0)
    pwm2.start(0)
    while boolean_2:
        for i in range(60, 120):
            position_1 = 1./18.*(i)+2
            position_2 = 1./18.*(180-i)+2
            pwm1.ChangeDutyCycle(position_1 )
            pwm2.ChangeDutyCycle(position_2 )
            time.sleep(0.005)
        for i in range(120, 60, -1):
            position_1 = 1./18.*(i)+2
            position_2 = 1./18.*(180-i)+2
            pwm1.ChangeDutyCycle(position_1 )
            pwm2.ChangeDutyCycle(position_2 )
            time.sleep(0.05)
    pwm1.stop()
    pwm2.stop()

def function1():
    global boolean_1 , boolean_3 , boolean_4 
    t_start = datetime.datetime.now()
    start_time = (round(t_start.microsecond/1000000) + t_start.second + t_start.minute*60 + t_start.hour*3600)
    boolean_1 = True
    t1 = threading.Thread(target = function3, args=())
    t1.start()
    t2 = threading.Thread(target = function5, args=())
    t3 = threading.Thread(target = function4, args=())
    while True:
        t_cur = datetime.datetime.now()
        current_time = (round(t_cur.microsecond/1000000) + t_cur.second + t_cur.minute*60 + t_cur.hour*3600)                  
        if((current_time - start_time) < 10):
            if not boolean_3 :
                boolean_3 = True
                t2.start()
        elif((current_time - start_time) >= 10 and (current_time - start_time) < 20):
            if boolean_3 :
                boolean_3 = False
                t2.join()
            if not boolean_4 :
                boolean_4 = True
                t3.start()
        elif((current_time - start_time) >= 20):
            boolean_4 = False
            t3.join()
            boolean_1 = False
            t1.join()
            break

def function4():
    global boolean_4
    pwm2.start(0)
    while boolean_4:
        for i in range(60, 120):
            position = 1./18.*(180-i)+2
            pwm2.ChangeDutyCycle(position)
            time.sleep(0.001)
        for i in range(120, 60, -1):
            position = 1./18.*(180-i)+2
            pwm2.ChangeDutyCycle(position)
            time.sleep(0.01)
    pwm2.stop()           

def function5():
    global boolean_3
    pwm1.start(0)
    while boolean_3:
        for i in range(60, 120):
            position = 1./18.*(i)+2
            pwm1.ChangeDutyCycle(position)
            time.sleep(0.001)
        for i in range(120, 60, -1):
            position = 1./18.*(i)+2
            pwm1.ChangeDutyCycle(position)
            time.sleep(0.01)
    pwm1.stop()

def function_controll():
    global boolean_2
    t5 = threading.Thread(target = function1, args=())
    t5.start()
    t5.join()
    boolean_2 = True
    function2()
    boolean_2= False
    
if __name__ == "__main__":
    t1 = threading.Thread(target = function_controll, args=())
    t1.start()
    t1.join()
    GPIO.cleanup()

I have updated..

import RPi.GPIO as GPIO
import time
import threading
import datetime

GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)

#set up GPIO pin outputs for servo motors
GPIO.setup(11, GPIO.OUT)
GPIO.setup(13, GPIO.OUT)
GPIO.setup(15, GPIO.OUT)

#set up pwm for the pins
pwm1 = GPIO.PWM(11, 50)
pwm2 = GPIO.PWM(13, 50)
pwm3 = GPIO.PWM(15, 50)

#set up controlling boolean values
boolean_1 = False
boolean_2= False
boolean_3= False
boolean_4= False

def function3():
    global boolean_1 , pwm3
    pwm3.start(0)
    while move_forward:
        for i in range(70, 110):
            position = 1./18.*(i)+2
            pwm3.ChangeDutyCycle(position)
            time.sleep(0.015)
        for i in range(110, 70, -1):
            position = 1./18.*(i)+2
            pwm3.ChangeDutyCycle(position)
            time.sleep(0.015)
    for i in range(70, 90):
        position = 1./18.*(i)+2
        pwm3.ChangeDutyCycle(position)
        time.sleep(0.001)
    pwm3.stop()

def function2():
    global boolean_2, pwm1, pwm2
    pwm1.start(0)
    pwm2.start(0)
    while boolean_2:
        for i in range(60, 120):
            position_1 = 1./18.*(i)+2
            position_2 = 1./18.*(180-i)+2
            pwm1.ChangeDutyCycle(position_1 )
            pwm2.ChangeDutyCycle(position_2 )
            time.sleep(0.005)
        for i in range(120, 60, -1):
            position_1 = 1./18.*(i)+2
            position_2 = 1./18.*(180-i)+2
            pwm1.ChangeDutyCycle(position_1 )
            pwm2.ChangeDutyCycle(position_2 )
            time.sleep(0.05)
    pwm1.stop()
    pwm2.stop()

def function1():
    global boolean_1 , boolean_3 , boolean_4 
    t_start = datetime.datetime.now()
    start_time = (round(t_start.microsecond/1000000) + t_start.second + t_start.minute*60 + t_start.hour*3600)
    boolean_1 = True
    t1 = threading.Thread(target = function3, args=())
    t1.start()
    t2 = threading.Thread(target = function5, args=())
    t3 = threading.Thread(target = function4, args=())
    while True:
        t_cur = datetime.datetime.now()
        current_time = (round(t_cur.microsecond/1000000) + t_cur.second + t_cur.minute*60 + t_cur.hour*3600)                  
        if((current_time - start_time) < 10):
            if not boolean_3 :
                boolean_3 = True
                t2.start()
        elif((current_time - start_time) >= 10 and (current_time - start_time) < 20):
            if boolean_3 :
                boolean_3 = False
                t2.join()
            if not boolean_4 :
                boolean_4 = True
                t3.start()
        elif((current_time - start_time) >= 20):
            boolean_4 = False
            t3.join()
            boolean_1 = False
            t1.join()
            break

def function4():
    global boolean_4
    pwm2.start(0)
    while boolean_4:
        for i in range(60, 120):
            position = 1./18.*(180-i)+2
            pwm2.ChangeDutyCycle(position)
            time.sleep(0.001)
        for i in range(120, 60, -1):
            position = 1./18.*(180-i)+2
            pwm2.ChangeDutyCycle(position)
            time.sleep(0.01)
    pwm2.stop()           

def function5():
    global boolean_3
    pwm1.start(0)
    while boolean_3:
        for i in range(60, 120):
            position = 1./18.*(i)+2
            pwm1.ChangeDutyCycle(position)
            time.sleep(0.001)
        for i in range(120, 60, -1):
            position = 1./18.*(i)+2
            pwm1.ChangeDutyCycle(position)
            time.sleep(0.01)
    pwm1.stop()

def function_controll():
    global boolean_2
    t5 = threading.Thread(target = function1, args=())
    t5.start()
    t5.join()
    boolean_2 = True
    function2()
    boolean_2= False
    
if __name__ == "__main__":
    t1 = threading.Thread(target = function_controll, args=())
    t1.start()
    t1.join()
    GPIO.cleanup()

import RPi.GPIO as GPIO
import time
import threading
import datetime

GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)

#set up GPIO pin outputs for servo motors
GPIO.setup(11, GPIO.OUT)
GPIO.setup(13, GPIO.OUT)
GPIO.setup(15, GPIO.OUT)

#set up pwm for the pins
pwm1 = GPIO.PWM(11, 50)
pwm2 = GPIO.PWM(13, 50)
pwm3 = GPIO.PWM(15, 50)

#set up controlling boolean values
boolean_1 = False
boolean_2= False
boolean_3= False
boolean_4= False

def function3():
    global boolean_1 , pwm3
    pwm3.start(0)
    while boolean_1:
        for i in range(70, 110):
            position = 1./18.*(i)+2
            pwm3.ChangeDutyCycle(position)
            time.sleep(0.015)
        for i in range(110, 70, -1):
            position = 1./18.*(i)+2
            pwm3.ChangeDutyCycle(position)
            time.sleep(0.015)
    for i in range(70, 90):
        position = 1./18.*(i)+2
        pwm3.ChangeDutyCycle(position)
        time.sleep(0.001)
    pwm3.stop()

def function2():
    global boolean_2, pwm1, pwm2
    pwm1.start(0)
    pwm2.start(0)
    while boolean_2:
        for i in range(60, 120):
            position_1 = 1./18.*(i)+2
            position_2 = 1./18.*(180-i)+2
            pwm1.ChangeDutyCycle(position_1 )
            pwm2.ChangeDutyCycle(position_2 )
            time.sleep(0.005)
        for i in range(120, 60, -1):
            position_1 = 1./18.*(i)+2
            position_2 = 1./18.*(180-i)+2
            pwm1.ChangeDutyCycle(position_1 )
            pwm2.ChangeDutyCycle(position_2 )
            time.sleep(0.05)
    pwm1.stop()
    pwm2.stop()

def function1():
    global boolean_1 , boolean_3 , boolean_4 
    t_start = datetime.datetime.now()
    start_time = (round(t_start.microsecond/1000000) + t_start.second + t_start.minute*60 + t_start.hour*3600)
    boolean_1 = True
    t1 = threading.Thread(target = function3, args=())
    t1.start()
    t2 = threading.Thread(target = function5, args=())
    t3 = threading.Thread(target = function4, args=())
    while True:
        t_cur = datetime.datetime.now()
        current_time = (round(t_cur.microsecond/1000000) + t_cur.second + t_cur.minute*60 + t_cur.hour*3600)                  
        if((current_time - start_time) < 10):
            if not boolean_3 :
                boolean_3 = True
                t2.start()
        elif((current_time - start_time) >= 10 and (current_time - start_time) < 20):
            if boolean_3 :
                boolean_3 = False
                t2.join()
            if not boolean_4 :
                boolean_4 = True
                t3.start()
        elif((current_time - start_time) >= 20):
            boolean_4 = False
            t3.join()
            boolean_1 = False
            t1.join()
            break

def function4():
    global boolean_4
    pwm2.start(0)
    while boolean_4:
        for i in range(60, 120):
            position = 1./18.*(180-i)+2
            pwm2.ChangeDutyCycle(position)
            time.sleep(0.001)
        for i in range(120, 60, -1):
            position = 1./18.*(180-i)+2
            pwm2.ChangeDutyCycle(position)
            time.sleep(0.01)
    pwm2.stop()           

def function5():
    global boolean_3
    pwm1.start(0)
    while boolean_3:
        for i in range(60, 120):
            position = 1./18.*(i)+2
            pwm1.ChangeDutyCycle(position)
            time.sleep(0.001)
        for i in range(120, 60, -1):
            position = 1./18.*(i)+2
            pwm1.ChangeDutyCycle(position)
            time.sleep(0.01)
    pwm1.stop()

def function_controll():
    global boolean_2
    t5 = threading.Thread(target = function1, args=())
    t5.start()
    t5.join()
    boolean_2 = True
    function2()
    boolean_2= False
    
if __name__ == "__main__":
    t1 = threading.Thread(target = function_controll, args=())
    t1.start()
    t1.join()
    GPIO.cleanup()

I have updated..

Source Link

asked Dec 17, 2018 at 17:00

iuhettiarachchi

Servo motors not working as expected with Raspberry pi 3

I am developing a robot with raspberry pi model b along with three servo motors. I have two functions which are defined for obtain robot behaviours. In the first function my servos are working well. After completing first function, second function start. But their is problem. My servos are not working at all in the second function. I have attached my code below. I tried for days about this issue. But I couldn't find it out.

import RPi.GPIO as GPIO
import time
import threading
import datetime

GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)

#set up GPIO pin outputs for servo motors
GPIO.setup(11, GPIO.OUT)
GPIO.setup(13, GPIO.OUT)
GPIO.setup(15, GPIO.OUT)

#set up pwm for the pins
pwm1 = GPIO.PWM(11, 50)
pwm2 = GPIO.PWM(13, 50)
pwm3 = GPIO.PWM(15, 50)

#set up controlling boolean values
boolean_1 = False
boolean_2= False
boolean_3= False
boolean_4= False

def function3():
    global boolean_1 , pwm3
    pwm3.start(0)
    while move_forward:
        for i in range(70, 110):
            position = 1./18.*(i)+2
            pwm3.ChangeDutyCycle(position)
            time.sleep(0.015)
        for i in range(110, 70, -1):
            position = 1./18.*(i)+2
            pwm3.ChangeDutyCycle(position)
            time.sleep(0.015)
    for i in range(70, 90):
        position = 1./18.*(i)+2
        pwm3.ChangeDutyCycle(position)
        time.sleep(0.001)
    pwm3.stop()

def function2():
    global boolean_2, pwm1, pwm2
    pwm1.start(0)
    pwm2.start(0)
    while boolean_2:
        for i in range(60, 120):
            position_1 = 1./18.*(i)+2
            position_2 = 1./18.*(180-i)+2
            pwm1.ChangeDutyCycle(position_1 )
            pwm2.ChangeDutyCycle(position_2 )
            time.sleep(0.005)
        for i in range(120, 60, -1):
            position_1 = 1./18.*(i)+2
            position_2 = 1./18.*(180-i)+2
            pwm1.ChangeDutyCycle(position_1 )
            pwm2.ChangeDutyCycle(position_2 )
            time.sleep(0.05)
    pwm1.stop()
    pwm2.stop()

def function1():
    global boolean_1 , boolean_3 , boolean_4 
    t_start = datetime.datetime.now()
    start_time = (round(t_start.microsecond/1000000) + t_start.second + t_start.minute*60 + t_start.hour*3600)
    boolean_1 = True
    t1 = threading.Thread(target = function3, args=())
    t1.start()
    t2 = threading.Thread(target = function5, args=())
    t3 = threading.Thread(target = function4, args=())
    while True:
        t_cur = datetime.datetime.now()
        current_time = (round(t_cur.microsecond/1000000) + t_cur.second + t_cur.minute*60 + t_cur.hour*3600)                  
        if((current_time - start_time) < 10):
            if not boolean_3 :
                boolean_3 = True
                t2.start()
        elif((current_time - start_time) >= 10 and (current_time - start_time) < 20):
            if boolean_3 :
                boolean_3 = False
                t2.join()
            if not boolean_4 :
                boolean_4 = True
                t3.start()
        elif((current_time - start_time) >= 20):
            boolean_4 = False
            t3.join()
            boolean_1 = False
            t1.join()
            break

def function4():
    global boolean_4
    pwm2.start(0)
    while boolean_4:
        for i in range(60, 120):
            position = 1./18.*(180-i)+2
            pwm2.ChangeDutyCycle(position)
            time.sleep(0.001)
        for i in range(120, 60, -1):
            position = 1./18.*(180-i)+2
            pwm2.ChangeDutyCycle(position)
            time.sleep(0.01)
    pwm2.stop()           

def function5():
    global boolean_3
    pwm1.start(0)
    while boolean_3:
        for i in range(60, 120):
            position = 1./18.*(i)+2
            pwm1.ChangeDutyCycle(position)
            time.sleep(0.001)
        for i in range(120, 60, -1):
            position = 1./18.*(i)+2
            pwm1.ChangeDutyCycle(position)
            time.sleep(0.01)
    pwm1.stop()

def function_controll():
    global boolean_2
    t5 = threading.Thread(target = function1, args=())
    t5.start()
    t5.join()
    boolean_2 = True
    function2()
    boolean_2= False
    
if __name__ == "__main__":
    t1 = threading.Thread(target = function_controll, args=())
    t1.start()
    t1.join()
    GPIO.cleanup()

Here, function3, function4 and function5 are functions use in function1. This might be a very basic thing with servos. But since I new to this stuff i need a help. Any help would be grateful.

Thank you very much !