def __init__(self, logger): self.log = logger self.log.info('Starting navigator...') self.db = DB(logger=logger) self.maps = MapsRepo() self.audio = AudioDriver() self.sc = StepCounter(logger) self.hc = HeadingCalculator(logger) self.cam = Process(target=camera, name="Camera", args=(QUEUE,)) self.current_prompt = None self.navi_chunk_finished = False self.heading_timestamp = utils.now() GPIO.setwarnings(False) GPIO.cleanup() GPIO.setmode(GPIO.BCM) GPIO.setup(GPIO_OVERRIDE_PIN, GPIO.IN, pull_up_down=GPIO.PUD_UP)