#!/usr/bin/env python
import time
import sys
import controller
if __name__ == "__main__":
speed = 1
if len(sys.argv) == 2:
speed = float(sys.argv[1])
try:
controller.pwm_change_duty(speed)
except KeyboardInterrupt:
print "KeyboardInterrupt"
controller.go_stop()
import obstacle as obst
#minimum distance(cm)
min_distance = 30
max_distance = 100
duty = 10
count = 0
back_time = 0.1
turn_time = 0.5
if __name__ == "__main__":
if len(sys.argv) == 3:
sleep = float(sys.argv[1])
duty = float(sys.argv[2])
print "duty: ", duty
controller.pwm_change_duty(duty)
time.sleep(0.05)
controller.go_up()
try:
while True:
distance = ultrasound.get_distance()
back_obstacle1 = obst.has_obstacle(obst.PIN1)
back_obstacle2 = obst.has_obstacle(obst.PIN2)
back_obstacle3 = obst.has_obstacle(obst.PIN3)
back_obstacle4 = obst.has_obstacle(obst.PIN4)
left = back_obstacle1
middle_left = back_obstacle2
middle_right = back_obstacle3
right = back_obstacle4
#!/usr/bin/env python
import time
import sys
import os
import controller
if __name__=="__main__":
sleep=1
if len(sys.argv)==2:
sleep=float(sys.argv[1])
try:
cmd="sh /home/pi/rpi/car/kill.sh"
print cmd
os.system(cmd)
controller.pwm_change_duty(0)
controller.stop(sleep)
except KeyboardInterrupt:
print "KeyboardInterrupt"
controller.go_stop()