class Raspberry(object):
"""docstring for ClassName"""
def __init__(self):
super(Raspberry, self).__init__()
self.help_msg = \
u"你好，我是小Pi，回复对应字母开启我吧\n\n" \
u"F: 前进\n" \
u"B: 后退\n" \
u"L: 左转弯\n" \
u"R: 右转弯\n"\
u"C: 原地转圈\n"\
u"S: 停止\n"
self.car = Car()
def msg_handler(self, args):
arg_list = args.split(" ") # 参数以空格为分割符
res = u"指令错误，回复 help 获取帮助"
if len(arg_list) == 1: # 如果接收参数个数为1
arg = arg_list[0].strip()
if arg == u'help': # 帮助信息
res = self.help_msg
elif arg == u'F':
self.car.forward()
res = u"正在前进"
elif arg == u'B':
self.car.backward()
res = u"正在后退"
elif arg == u'L':
self.car.left()
res = u"正在左转弯"
elif arg == u'R':
self.car.right()
res = u"正在右转弯"
elif arg == u'C':
self.car.circle()
res = u"正在原地转圈"
elif arg == u'S':
self.car.stop()
res = u"停止"
return res
car.right()
elif trace == LEFT:
car.left()
elif trace == FORWARD:
car.forward(speed)
elif trace == STOP:
if trace_stops <= 2:
trace_stops += 1
continue
car.stop()
obstacle = car.get_obstacle()
if obstacle == STOP and \
(passed_ultra_obstacle or
(not passed_first_obstacle or
not passed_second_obstacle)):
car.backward(2)
car.right_angle_turn(90)
car.forward(50)
time.sleep(0.8)
car.left_angle_turn(90)
# car.stop()
while True:
trace = car.get_trace()
obstacle = car.get_obstacle()
if obstacle == RIGHT or trace == RIGHT:
car.right()
elif trace == LEFT:
car.left()
elif trace == FORWARD:
car.forward(5)
elif trace == STOP:
car = Car()
while True:
printscreen()
print(car)
char = screen.getch()
if char == ord('q'):
car.stopDriving()
break
elif char == ord('-'):
car.centerSteering()
elif char == ord('s'):
print("lets start driving!")
car.beginDriving()
elif char == curses.KEY_UP:
print('forward')
car.forward()
elif char == curses.KEY_DOWN:
print('reverse')
car.backward()
elif char == curses.KEY_RIGHT:
print('right')
car.turnRight()
elif char == curses.KEY_LEFT:
print('left')
car.turnLeft()
car.updatePwm()
curses.nocbreak()
screen.keypad(0)
curses.echo()
curses.endwin()
elif trace == LEFT:
car.left()
elif trace == FORWARD:
car.forward(speed)
elif trace == STOP:
if trace_stops <= 2:
car.forward(50)
time.sleep(0.8)
trace_stops += 1
continue
car.stop()
obstacle = car.get_obstacle()
if passed_ultra_obstacle and (not passed_first_obstacle
or not passed_second_obstacle):
if obstacle == STOP:
car.backward(50)
time.sleep(0.8)
car.right_angle_turn(45)
car.forward(50)
time.sleep(0.8)
# car.left_angle_turn(90)
car.stop()
started_time = time.time()
while True:
trace = car.get_trace()
obstacle = car.get_obstacle()
if not ((time.time() - started_time) > 2):
if obstacle == RIGHT or trace == RIGHT:
car.right()
elif trace == LEFT:
car.left()
