def forever():
global Ref, Left, Mid, Right
if getGrayscaleValue() != [0, 0, 0]:
backward(50)
delay(500)
set_dir_servo_angle(30)
forward(30)
delay(500)
set_dir_servo_angle(0)
else:
forward(20)
def outHandle():
global sta, value, direction, Ref, Left, Mid, Right, lastSta, currentSta
if lastSta == 'LEFT':
set_dir_servo_angle((-30))
backward(10)
elif lastSta == 'RIGHT':
set_dir_servo_angle(30)
backward(10)
while True:
currentSta = getDirection()
if currentSta != lastSta:
break
delay(1)
def forever():
forward(50)
delay(1000)
backward(50)
delay(1000)
forward(50)
set_dir_servo_angle((-30))
delay(1000)
forward(50)
set_dir_servo_angle(30)
delay(1000)
set_dir_servo_angle(0)
stop()
delay(2000)
def forever():
global Ref1, distance, Ref2
distance = Ultrasonic(pin_D0, pin_D1).read()
if distance >= Ref1:
set_dir_servo_angle(0)
forward(50)
elif distance >= Ref2:
set_dir_servo_angle(40)
forward(50)
delay(500)
else:
set_dir_servo_angle((-40))
backward(50)
delay(500)
def forever():
global distance
distance = Ultrasonic(pin_D0, pin_D1).read()
print("%s"%distance)
delay(100)
forward(50)
delay(1000)
backward(50)
delay(1000)
forward(50)
set_dir_servo_angle((-30))
delay(1000)
forward(50)
set_dir_servo_angle(30)
delay(1000)
set_dir_servo_angle(0)
stop()
delay(2000)