/
main.py
65 lines (55 loc) · 1.35 KB
/
main.py
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import motors as m
#import bump as b
import RPi.GPIO as GPIO
import time
import signal
def interrupted(signum, frame):
print ('asdf')
signal.signal(signal.SIGALRM, interrupted)
def input():
try:
foo = raw_input()
return foo
except:
return
signal.alarm(5)
s = input()
signal.alarm(0)
bump_sensor1 = 17
bump_sensor2 = 4
bump_sensor3 = 27
bump_sensor4 = 22
GPIO.setup(bump_sensor1, GPIO.IN, GPIO.PUD_DOWN)
GPIO.setup(bump_sensor2, GPIO.IN, GPIO.PUD_DOWN)
GPIO.setup(bump_sensor3, GPIO.IN, GPIO.PUD_DOWN)
GPIO.setup(bump_sensor4, GPIO.IN, GPIO.PUD_DOWN)
def my_callback(bump_sensor1):
m.stop()
GPIO.add_event_detect(bump_sensor1, GPIO.RISING, callback=my_callback)
GPIO.add_event_detect(bump_sensor2, GPIO.RISING, callback=my_callback)
GPIO.add_event_detect(bump_sensor3, GPIO.RISING, callback=my_callback)
GPIO.add_event_detect(bump_sensor4, GPIO.RISING, callback=my_callback)
while (1):
x = input()
if x=='w':
m.forward()
elif x=='a':
m.left_turn()
time.sleep(0.1)
m.stop()
elif x=='aa':
m.left_turn()
time.sleep(0.4)
m.stop()
elif x=='d':
m.right_turn()
time.sleep(0.1)
m.stop()
elif x=='dd':
m.right_turn()
time.sleep(0.4)
m.stop()
elif x=='ss':
m.reverse()
elif x=='s':
m.stop()