class Car(object):
"""
Control of our lego buggy via left, right and gas pins
"""
def __init__(self):
self.left = ExclusivePin(17, None)
self.right = ExclusivePin(14, self.left)
self.gas = Pin(0)
self.left.xpin = self.left
def turn(self, s, is_left, angle=0.05):
first = self.left if is_left else self.right
second = self.right if is_left else self.left
first.drive(angle)
end = time.time() + s
while time.time() < end:
sleep(0.25)
first.drive(angle/10)
second.drive(angle)
def turn_left(self, s):
self.turn(s, True)
def turn_right(self, s):
self.turn(s, False)
def rev(self, s=0.4):
self.gas.drive(s)
def start(self, wait=None):
self.gas.on()
if wait:
sleep(wait)
def pause(self, s):
self.stop()
sleep(s)
self.start()
def stop(self):
self.gas.off()
def all_stop(self):
self.stop()
self.left.off()
self.right.off()
def __init__(self):
self.left = ExclusivePin(17, None)
self.right = ExclusivePin(14, self.left)
self.gas = Pin(0)
self.left.xpin = self.left
