def evasion() :
# Swing Turn 's angle
right_turn_speed = 50
right_turn_time = 0.4
# Point Turn 's angle
left_turn_speed = 30
left_turn_time = 0.4
# The speed that the executor wants
speed = 43
go_time = 1.5
try:
go_turn_stop.right_SwingTurn(right_turn_speed, right_turn_time)
time.sleep(1)
go_turn_stop.go_forward(speed,go_time)
go_turn_stop.right_PointTurn(left_turn_speed, left_turn_time)
time.sleep(1)
WB = recog_line.get_01()
while recog_line.numberOfCases(WB) != 'inLine' :
go_turn_stop.just_go_forward(speed)
else :
time.sleep(1)
break
except :
pass
import recog_line
import setup
dis = 17 #20
speed = 20
time = 0.5
try:
while True:
# ultra sensor replies the distance back
distance = recog_obs.get_Distance()
print('distance= ', distance)
# when the distance is above the dis, moving object forwards
while (distance > dis):
W_and_B = recog_line.get_01()
if recog_line.numberOfCases(W_and_B) == 'inLine' :
go_turn_stop.go_forward(speed, time)
elif recog_line.numberOfCases(W_and_B) == 'leftSide' :
go_turn_stop.right_PointTurn(speed, time)
else :
go_turn_stop.left_PointTurn(speed, time)
else :
evasion_obs.evasion()
except KeyboardInterrupt:
go_turn_stop.pwm_low()