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March 7, 2017 10:10
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STJLOL Sensory Stuff
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import RPi.GPIO as GPIO | |
from time import sleep | |
GPIO.setmode(GPIO.BCM) | |
GPIO.setup(24, GPIO.OUT) # motors setup | |
GPIO.setup(17, GPIO.OUT) | |
GPIO.setup(27, GPIO.OUT) | |
GPIO.setup(23, GPIO.OUT) | |
GPIO.setup(25, GPIO.IN) #sensor setup | |
########### the sensor check function ########################## | |
def sensorcheck:() | |
i=0 #starts a counter at zero | |
while i<5: | |
sensor=GPIO.input(25) #this reads from the sensor | |
if sensor==1: #this means there is no signal | |
print("ALL CLEAR") | |
sleep(0.1) #allows wheels to keep going | |
elif sensor==0: #this means there is a signal | |
print("OH NOES! ICEBERG DEAD AHEAD SIR!") | |
print("HALT MOTORS!") | |
GPIO.output(17, GPIO.LOW) #stops wheels | |
GPIO.output(27, GPIO.LOW) | |
GPIO.output(23, GPIO.LOW) | |
GPIO.output(24, GPIO.LOW) | |
elif i=5: # once the counter gets to five | |
break # break out of the function, resume the program. | |
i=i+1 #counts to 5 | |
################################################################################## | |
while True: | |
key=input("Type in your command") | |
if key == "w": | |
GPIO.output(17, GPIO.HIGH) # forward | |
GPIO.output(24, GPIO.HIGH) | |
sensorcheck() # runs the sensor check function | |
GPIO.output(17, GPIO.LOW) | |
GPIO.output(24, GPIO.LOW) | |
elif key == "a": | |
GPIO.output(17, GPIO.HIGH) # left | |
sensorcheck() # runs the sensor check function | |
GPIO.output(17, GPIO.LOW) | |
elif key == "d": | |
GPIO.output(24, GPIO.HIGH) # right | |
sensorcheck() # runs the sensor check function | |
GPIO.output(24, GPIO.LOW) | |
elif key == "s": | |
GPIO.output(27, GPIO.HIGH) #reverse | |
GPIO.output(23, GPIO.HIGH) | |
sensorcheck() #runs the sensor check function | |
GPIO.output(27, GPIO.LOW) | |
GPIO.output(23, GPIO.LOW) | |
elif key == "z": #quits | |
GPIO.cleanup() | |
print("Powering down motors") | |
print("Have a nice day!") | |
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