def stop(): GPIO.digitalWrite(motorRdPin, GPIO.PWM) GPIO.digitalWrite(motorFdPin, GPIO.PWM) # motorFspeed, motorRspeed, acceleration initiate() return 0, 0, 0
def toggle_led(pin):
value = GPIO.LOW
state = GPIO.digitalRead(pin)
if not state:
value = GPIO.HIGH
GPIO.digitalWrite(pin, value)
def destroy():
# turn off LEDS
GPIO.digitalWrite(L1, GPIO.LOW)
GPIO.digitalWrite(L2, GPIO.LOW)
GPIO.digitalWrite(L3, GPIO.LOW)
GPIO.digitalWrite(L4, GPIO.LOW)
GPIO.digitalWrite(L5, GPIO.LOW)
GPIO.digitalWrite(L6, GPIO.LOW)
GPIO.digitalWrite(L7, GPIO.LOW)
RPi.GPIO.cleanup()
def toggle_led(pin):
value = GPIO.LOW
state = GPIO.digitalRead(pin)
if not state:
value = GPIO.HIGH
GPIO.digitalWrite(pin, value)
def destroy():
# turn off LEDS
GPIO.digitalWrite(L1, GPIO.LOW)
GPIO.digitalWrite(L2, GPIO.LOW)
GPIO.digitalWrite(L3, GPIO.LOW)
GPIO.digitalWrite(L4, GPIO.LOW)
GPIO.digitalWrite(L5, GPIO.LOW)
GPIO.digitalWrite(L6, GPIO.LOW)
GPIO.digitalWrite(L7, GPIO.LOW)
RPi.GPIO.cleanup()
def ring_buzzer():
GPIO.digitalWrite(27, 1)
time.sleep(0.5)
GPIO.digitalWrite(27, 0)
float d = dist (r1, g1, b1, r2, g2, b2)
if (d < worldRecord):
worldRecord = d
closestX = x
closestY = y
if (worldRecord < 10):
fill(trackColor)
strokeWeight(4.0)
stroke(0)
ellipse(closestX, closestY, 16, 16)
println(closestX, closestY)
if (closestX < 140):
G.digitalWrite(4, G.HIGH)
G.digitalWrite(14, G.HIGH)
G.digitalWrite(17, G.HIGH)
G.digitalWrite(18, G.LOW)
delay(10)
G.digitalWrite(4, G.HIGH)
G.digitalWrite(14, G.HIGH)
G.digitalWrite(17, G.HIGH)
G.digitalWrite(18, G.HIGH)
println("Turn Right")
elif (closestX > 200):
G.digitalWrite(4, G.HIGH)
G.digitalWrite(14, G.LOW)
G.digitalWrite(17, G.HIGH)
G.digitalWrite(18, G.HIGH)
def center(): GPIO.digitalWrite(motorRightPin, GPIO.LOW) GPIO.digitalWrite(motorLeftPin, GPIO.LOW)
