import setup from setup import RPL import RoboPiLib as RoboPi RoboPi.RoboPiInit(“/dev/ttyAMA0”,115200) RoboPi.pinMode(1,RoboPi.OUTPUT) RoboPi.digitalWrite(16,1) RoboPi.pinMode(17,RoboPi.PWM) RoboPi.analogWrite(17,127) print RoboPi.analogRead(0) #RPL.servoWrite(0,1000) #RPL.servoWrite(1,1000) #x = 1 #while x == 1: # RoboPi.analogRead(1) # AnalogRead = RoboPi.analogRead(1) # AnalogRead = int(AnalogRead) # print AnalogRead # Dist = (500 * AnalogRead)/1024 # print Dist #import RoboPiLib as RoboPi
#!/usr/bin/python
import RoboPiLib as RoboPi
import time as time
INPUT = RoboPi.INPUT
OUTPUT = RoboPi.OUTPUT
LEFT_BUMPER = 22
RIGHT_BUMPER = 23
LEFT_LED = 8
RIGHT_LED = 9
PRESSED = 0
RoboPi.RoboPiInit("/dev/ttyAMA0", 115200)
RoboPi.pinMode(LEFT_BUMPER, INPUT)
RoboPi.pinMode(RIGHT_BUMPER, INPUT)
RoboPi.pinMode(LEFT_LED, OUTPUT)
RoboPi.pinMode(RIGHT_LED, OUTPUT)
while 1:
RoboPi.digitalWrite(LEFT_LED, RoboPi.digitalRead(LEFT_BUMPER))
RoboPi.digitalWrite(RIGHT_LED, RoboPi.digitalRead(RIGHT_BUMPER))
RoboPi.RoboPiExit()
def shoulder_down(dir):
if (dir == 'go'):
RPL.digitalWrite(shoulder_dir, 1)
RPL.pwmWrite(shoulder_pulse, 200, 400)
else:
RPL.pwmWrite(shoulder_pulse, 0, 400)
def elbow_down(dir):
if (dir == 'go'):
RPL.digitalWrite(elbow_dir, 1)
RPL.pwmWrite(elbow_pulse, 200, 400)
else:
RPL.pwmWrite(elbow_pulse, 0, 400)
import RoboPiLib as RPL
import time
def cease():
exit(0)
RPL.RoboPiInit("/dev/ttyAMA0",115200)
RPL.digitalWrite(18,1)
RPL.digitalWrite(20,0)
RPL.servoWrite(1,0)
RPL.servoWrite(0,0)
motorr = 1
def stop():
RPL.servoWrite(0,0)
RPL.servoWrite(1,0)
def hard_turn_left():
RPL.servoWrite(0,1500)
def turn_left():
RPL.servoWrite(0,1000)
def turn_right():
RPL.servoWrite(1,1000)
def hard_turn_right():
RPL.ServoWrite(1,1500)
print "Input command"
command = raw_input("> ")
if command == "Initialize":
while True:
if RPL.readDistance(1) < 30:
turn_left()
start_time = time.time()
if time.time - start_time > 3 and RPL.readDistance(1) > 30:
cease()
elif readDistance(0) < 30:
