#code for flatfish Mark 6

import piconzero as pz

import time

from gpiozero import Button

import sys

from inputs import get_key

import os

import hcsr04

import I2C_LCD_driver

#I2C LCD driver from http://www.circuitbasics.com/raspberry-pi-i2c-lcd-set-up-and-programming/

#____________________________________________________________________________________

#hardware setup

mylcd = I2C_LCD_driver.lcd() #assign LCD to variable for ease of use

pz.init() #initiate hardware

pz.setInputConfig(0,0) #right IR sensor is input 0 and digital

pz.setInputConfig(1,0) #left IR sensor is input 1 and digital

pz.setInputConfig(2,0) #right line sensor is input 2 and digital

pz.setInputConfig(3,0) #left line is input 3 and digital

RIGHTIR = pz.readInput(0) #assign right IR to a variable

LEFTIR = pz.readInput(1) #assign left IR to a variable

RIGHTLINE = pz.readInput(2) #assign right line sensor to a variable

LEFTLINE = pz.readInput(3) #assign left line sensor to a variable

hcsr04.init() #initiate hardware

RANGE = hcsr04.getDistance() #assign HC-SR04 range to variable

button = Button(22)

#end of hardware setup

#______________________________________________________________________________

#____________________________________________________________________________________

#functions for individual tasks

def remotecontrol(): #works perfect

GO = 0

def linefollower(): #works perfectly on a new set of batteries

#time.sleep(0.5)

def automaze():

time.sleep(0.01)

def speedrun():

mylcd.lcd_display_string("Use switch=STOP ", 2)

#end functions

#_____________________________________________________________________________

#____________________________________________________________________________________

#Main Loop

mylcd.lcd_display_string("Select Option ", 1)

mylcd.lcd_display_string("S to Shutdown ", 2)

MAINLOOP = 1

try:

while True:

for event in get_key():

mylcd.lcd_display_string("Select Option ", 1)

mylcd.lcd_display_string("S to Shutdown ", 2)

if event.code == "KEY_S":

mylcd.lcd_display_string("Shutting Down ", 1)

mylcd.lcd_display_string(" ", 2)

pz.stop()

pz.cleanup()

os.system("sudo shutdown -h now")

elif event.code == "KEY_ESC":

mylcd.lcd_display_string("Ending Program ", 1)

mylcd.lcd_display_string(" ", 2)

pz.stop()

pz.cleanup()

sys.exit()

elif event.code == "KEY_1":

remotecontrol()

elif event.code == "KEY_2":

speedrun()

elif event.code == "KEY_3":

linefollower()

elif event.code == "KEY_4":

automaze()

except KeyboardInterrupt:

print ("")

finally:

pz.stop()

pz.cleanup()