BetterROVRemote09-05-15 | Python Fiddle

#Author: Daniel Zou
#Date: 09-05-15
#Description: PiUI-based remote for MotorHAT-driven motors

#imports
import functools
import os
import random
import time
from piui import PiUi
from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor
import atexit

#setup
current_dir = os.path.dirname(os.path.abspath(__file__))
mh = Adafruit_MotorHAT(addr=0x61)
turnsRightMotor = mh.getMotor(1)
turnsLeftMotor = mh.getMotor(2)
upDownMotor = mh.getMotor(3)
direction = Adafruit_MotorHAT.FORWARD

def turnOffMotors():
    mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
    mh.getMotor(2).run(Adafruit_MotorHAT.ELEASE)
    mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
    mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)

def forward():
    turnsLeftMotor.run(direction)
    turnsRightMotor.run(direction)
    turnsLeftMotor.setSpeed(255)
    turnsRightMotor.setSpeed(255)
    time.sleep(.5)

def left():
    turnsLeftMotor.run(direction)
    for s in reversed(range(255)):
        turnsLeftMotor.setSpeed(s)
        time.sleep(0.01)
    time.sleep(.5)
    
def right():
    turnsRightMotor.run(direction)
    for s in reversed(range(255)):
        turnsRightMotor.setSpeed(s)
        time.sleep(0.01)
    time.sleep(.5)
        
def up():
    upDownMotor.run(direction)
    upDownMotor.setSpeed(255)
    time.sleep(.5)

def changeGearsTo(gear):
    if gear == "drive":
        direction = Adafruit_MotorHAT.FORWARD
    elif gear == "reverse":
		direction = Adafruit_MotorHAT.BACKWARD
    else:
		direction = Adafruit_MotorHAT.FORWARD

class PiUI(object):

def __init__(self):
        self.ui = PiUi(img_dir=os.path.join(current_dir, 'imgs'))

def page_remote(self):
        self.page = self.ui.new_ui_page(title="ROV Remote")
        Go = self.page.add_button("Go", forward())
		self.page.add_element("br")
        Right = self.page.add_button("Right", right())
		self.page.add_element("br")
        Left = self.page.add_button("Left", left())
        self.page.add_element("br")
        Up = self.page.add_button("Lift", up())
        self.page.add_element("br")
        Drive = self.page.add_button("Drive", changeGearsTo("drive"))
        self.page.add_element("br")
        Reverse = self.page.add_button("Reverse", changeGearsTo("reverse"))

def main(self):
        self.page_remote()
        self.ui.done()

def main():
    piui = PiUI()
    piui.main()
    atexit.register(piui.turnOffMotors)
    while True:
        turnOffMotors()

if __name__ == '__main__':
    main()

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