ev3_walk.py

#! /usr/bin/env python
# -*- coding: utf-8 -*-

#
# Avoids obstacles with the infrared sensor.
#

import time

from ev3.lego import LargeMotor
from ev3.lego import TouchSensor
from ev3.lego import InfraredSensor

LEFT = LargeMotor(port=LargeMotor.PORT.B)
RIGHT = LargeMotor(port=LargeMotor.PORT.C)

button = TouchSensor()
ir_sensor = InfraredSensor()

distance = 30

def start_stop():
    while True:
        time.sleep(1)
        if button.is_pushed:
            print "starting..."
            walk()

def walk():
    while True:
        time.sleep(1)
        if button.is_pushed:
            print "stopping..."
            LEFT.stop()
            RIGHT.stop()
            break

        if ir_sensor.prox <= distance:
            print "obstacle detected"

            LEFT.stop()
            RIGHT.stop()

            LEFT.run_forever(100, regulation_mode=False)
            time.sleep(5)
            LEFT.stop()

        LEFT.run_forever(100, regulation_mode=False)
        RIGHT.run_forever(100, regulation_mode=False)

if __name__ == "__main__":
    # Point of entry in execution mode
    start_stop()

    LEFT.stop()
    RIGHT.stop()