63 lines
2.0 KiB
Python
63 lines
2.0 KiB
Python
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import RPi.GPIO as GPIO
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class Kran:
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def __init__(self, minus, plus, greifer, handgelenk, ellenbogen, armgelenk, basis, licht):
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self.__Minus = minus
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self.__Plus = plus
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self.__Greifer = greifer
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self.__Handgelenk = handgelenk
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self.__Ellenbogen = ellenbogen
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self.__Armgelenk = armgelenk
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self.__Basis = basis
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self.__Licht = licht
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self.__pin_list = [minus, plus, greifer, handgelenk, ellenbogen, armgelenk, basis, licht]
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self.__pin_list_plus = [greifer, handgelenk, ellenbogen, armgelenk, basis, licht]
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GPIO.setmode(GPIO.BOARD)
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GPIO.setup(self.__pin_list, GPIO.OUT)
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self.move(0, 0)
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def cleanup(self):
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GPIO.cleanup(1)
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def reset(self):
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GPIO.output(self.__pin_list, 1)
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def __on(self, on_pin):
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GPIO.output(on_pin, 0)
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GPIO.output(self.__Plus, 0)
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def __off(self, out_pin):
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GPIO.output(self.__pin_list_plus, 0)
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GPIO.output(out_pin, 1)
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GPIO.output(self.__Minus, 0)
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def move(self, was, wie):
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if was == "G" and wie == 1:
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self.__on(self.__Greifer)
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elif was == "G" and wie == 2:
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self.__off(self.__Greifer)
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elif was == "H" and wie == 1:
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self.__on(self.__Handgelenk)
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elif was == "H" and wie == 2:
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self.__off(self.__Handgelenk)
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elif was == "E" and wie == 1:
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self.__on(self.__Ellenbogen)
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elif was == "E" and wie == 2:
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self.__off(self.__Ellenbogen)
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elif was == "A" and wie == 1:
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self.__on(self.__Armgelenk)
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elif was == "A" and wie == 2:
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self.__off(self.__Armgelenk)
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elif was == "B" and wie == 1:
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self.__on(self.__Basis)
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elif was == "B" and wie == 2:
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self.__off(self.__Basis)
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elif was == "L" and wie == 1:
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self.__on(self.__Licht)
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else:
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print "no match!!!!!"
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