def turnCycle():
print("assad")
# stop()
# time.sleep(2)
# forward()
# time.sleep(0.5)
stop()
time.sleep(1)
turnRight()
time.sleep(0.33)
stop()
def reroute(changepin):
changePin = int(changepin) #cast changepin to an int
if changePin == 1:
motors.turnLeft()
elif changePin == 2:
motors.forward()
elif changePin == 3:
motors.turnRight()
elif changePin == 4:
motors.backward()
else:
motors.stop()
response = make_response(redirect(url_for('index')))
return(response)
def reroute(changepin):
changePin = int(changepin) #cast changepin to an int
if changePin == 1:
motors.turnLeft()
elif changePin == 2:
motors.forward()
elif changePin == 3:
motors.turnRight()
elif changePin == 4:
motors.backward()
else:
motors.stop()
response = make_response(redirect(url_for('index')))
return(response)
def reroute(changepin):
changePin = int(changepin)
if changePin == 1:
motors.turnLeft()
elif changePin == 2:
motors.forward()
elif changePin == 3:
motors.turnRight()
elif changePin == 4:
motors.backward()
elif changePin == 5:
motors.stop()
else:
print("Wrong command")
response = make_response(redirect(url_for('index')))
return (response)
time.sleep(1)
forward()
time.sleep(2)
stop()
time.sleep(1)
turnLeft()
time.sleep(turnTiming)
stop()
time.sleep(1)
forward()
time.sleep(2)
stop()
time.sleep(1)
turnRight()
time.sleep(0.33)
stop()
time.sleep(2)
forward()
time.sleep(2)
stop()
time.sleep(1)
turnLeft()
time.sleep(0.33)
stop()
time.sleep(2)
forward()
time.sleep(2)
stop()
isForward = True
import RPi.GPIO as GPIO
import time
import motors
import ultrasound
import sound
GPIO.setmode(GPIO.BCM)
# Main loop for polling dogbot sensors
##motors.reset()
GPIO.setup(21, GPIO.IN)
print (GPIO.input(21))
while(True):
# Checks to see if switch to toggle freemode is on
freeMode = (GPIO.input(21) == 1)
while(freeMode):
if(ultrasound.getDistance() < 80.0):
motors.backup(.5)
motors.turnRight(.364)
else:
motors.forward(.5)
freeMode = (GPIO.input(21) == 1)
if(ultrasound.getDistance() < 20.0):
motors.turnLeft(.7234)
sound.bark()
motors.GPIO.cleanup()
ultrasound.GPIO.cleanup()
exit()
if (currentDetection == "face"):
if (time.time() > startTime + 10):
motor_direction = "unsure"
if (motor_direction == "left"):
print("R")
try:
motors.turnLeft()
time.sleep(3)
motors.stopThere()
currentMotorAction = "stop"
except:
print("")
elif (motor_direction == "right"):
print("L")
try:
motors.turnRight()
time.sleep(3)
motors.stopThere()
currentMotorAction = "stop"
except:
print("")
#sleep(0.3)
#motor_direction = ""
elif (motor_direction == "unsure" and firstRun == False):
print("rotating")
motors.turnRight()
time.sleep(6)
motors.stopThere()
currentMotorAction = "stop"
else:
print("N")