IR Rangefinder Rover

s.py

#Only in PYTHON2.7
import RPi.GPIO as GPIO                                    #GPIO Libraries
from time import sleep                                     #Sleep Functions
import readchar                                            #keyboards

GPIO.setwarnings(False)                                    #Blocks error warnings
GPIO.setmode(GPIO.BCM)                                     #Setting Up

GPIO.setup(23, GPIO.OUT)                                   #back right
GPIO.setup(24, GPIO.OUT)                                   #front right
GPIO.setup(17, GPIO.OUT)                                   #front left
GPIO.setup(27, GPIO.OUT)                                   #back left
GPIO.setup(26, GPIO.OUT)                                   #red led
GPIO.setup(16, GPIO.OUT)                                   #green led
GPIO.setup(21, GPIO.IN)                                    #Reads output from the IR motion sensor

def sensorf():
    i = 1 
    while i < 6:                                          #do all of the below before i reaches 6

        sensor=GPIO.input(21)

        if sensor==1:                                     #When output from motion sensor is LOW
            print("No Obstructions!!")
            sleep(1)
        elif sensor==0:                                   #When output from motion sensor is HIGH
            print("Obstruction detected")
            sleep(1)
            GPIO.output(23, GPIO.LOW)                     #back right
            GPIO.output(24, GPIO.LOW)                     #front right
            GPIO.output(17, GPIO.LOW)                     #front left
	    GPIO.output(27, GPIO.LOW)                     #back left
		
	elif i==5:
		break                                     #breaks the loop

        i = i+1
     	
 	


print("Welcome to the Awesome Robot!!!")
sleep(2)

while True:                                              #starts the loop

    key=readchar.readkey()

    if key=="1": 
        GPIO.output(17, GPIO.HIGH)
        GPIO.output(24, GPIO.HIGH)
        GPIO.output(16, GPIO.HIGH)
        sensorf()
        GPIO.output(17, GPIO.LOW)
        GPIO.output(24, GPIO.LOW)
        GPIO.output(16, GPIO.LOW)

            
    elif key=="2":
        GPIO.output(17, GPIO.HIGH)
        sensorf()
        GPIO.output(17, GPIO.LOW)

    elif key=="3":
        GPIO.output(24, GPIO.HIGH)
        sensorf()
        GPIO.output(24, GPIO.LOW)

    elif key=="4":
        GPIO.output(27, GPIO.HIGH)
        sleep(0.4)
        GPIO.output(27, GPIO.LOW)

    elif key=="5":
        GPIO.output(23, GPIO.HIGH)
        sleep(0.4)
        GPIO.output(23, GPIO.LOW)

    elif key=="6":
        GPIO.output(27, GPIO.HIGH)
        GPIO.output(23, GPIO.HIGH)
        GPIO.output(26, GPIO.HIGH)
        sleep(0.4)
        GPIO.output(27, GPIO.LOW)
        GPIO.output(23, GPIO.LOW)
        GPIO.output(26, GPIO.LOW)
            
    elif key=="z":
        GPIO.cleanup()                        #cleaning up the code
        sleep(1)
        break