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- return function (socket)
- --1=GPIO5, 2=GPIO4, 3=GPIO0, 4=GPIO2, 5=GPIO14, 6=GPIO12,
- --7=GPIO13, 8=GPIO15, 9=GPIO3, 10=GPIO1, 11=GPIO9, 12=GPIO10
- local leftpwm, leftduty, leftpin1, leftpin2 = 1, 818, 2, 4 --GPIO5, 80%, GPIO4, GPIO2
- local rightpwm,rightduty, rightpin1, rightpin2 = 5, 717, 6, 7 --GPIO14, 70%, GPIO12, GPIO13
- -- timer id(0-6), interval in ms
- local tmrId, tmrMs = 4, 800
- -- init motors
- pwm.setup(leftpwm, 500, leftduty)
- pwm.start(leftpwm)
- gpio.mode(leftpin1, gpio.OUTPUT)
- gpio.mode(leftpin2, gpio.OUTPUT)
- pwm.setup(rightpwm, 500, rightduty)
- pwm.start(rightpwm)
- gpio.mode(rightpin1, gpio.OUTPUT)
- gpio.mode(rightpin2, gpio.OUTPUT)
- function socket.onmessage(payload, opcode)
- curStep = payload:sub(1, 1)
- if (curStep == 'F') then
- gpio.write(leftpin1, gpio.LOW)
- gpio.write(leftpin2, gpio.HIGH)
- gpio.write(rightpin1, gpio.LOW)
- gpio.write(rightpin2, gpio.HIGH)
- elseif (curStep == 'B') then
- gpio.write(leftpin1, gpio.HIGH)
- gpio.write(leftpin2, gpio.LOW)
- gpio.write(rightpin1, gpio.HIGH)
- gpio.write(rightpin2, gpio.LOW)
- elseif (curStep == 'L') then
- gpio.write(leftpin1, gpio.LOW)
- gpio.write(leftpin2, gpio.HIGH)
- gpio.write(rightpin1, gpio.HIGH)
- gpio.write(rightpin2, gpio.LOW)
- elseif (curStep == 'R') then
- gpio.write(leftpin1, gpio.HIGH)
- gpio.write(leftpin2, gpio.LOW)
- gpio.write(rightpin1, gpio.LOW)
- gpio.write(rightpin2, gpio.HIGH)
- elseif (curStep == 'S') then
- gpio.write(leftpin1, gpio.LOW)
- gpio.write(leftpin2, gpio.LOW)
- gpio.write(rightpin1, gpio.LOW)
- gpio.write(rightpin2, gpio.LOW)
- end
- end
- function socket.onclose()
- pwm.stop(leftpwm)
- gpio.write(leftpin1, gpio.LOW)
- gpio.write(leftpin2, gpio.LOW)
- pwm.stop(rightpwm)
- gpio.write(rightpin1, gpio.LOW)
- gpio.write(rightpin2, gpio.LOW)
- end
- end
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