if (centre_x <= -20 or centre_x >= 20):
if (centre_x < 0):
flag = 0
rightturn()
time.sleep(0.025)
elif (centre_x > 0):
flag = 1
leftturn()
time.sleep(0.025)
forward()
time.sleep(0.00003125)
stop()
time.sleep(0.00625)
else:
stop()
time.sleep(0.01)
else:
#if it founds the ball and it is too close it lights up the led.
GPIO.output(LED_PIN, GPIO.HIGH)
time.sleep(0.1)
stop()
time.sleep(0.1)
#cv2.imshow("draw",frame)
rawCapture.truncate(
0) # clear the stream in preparation for the next frame
if (cv2.waitKey(1) & 0xff == ord('q')):
break
GPIO.cleanup() #free all the GPIO pins
