CarUltrasound.__init__(self)
CarInfrared.__init__(self)
CarCamera.__init__(self)
CarDetect.__init__(self)
def AllStop(self):
CarMove.MotorStop(self)
CarCamera.CameraCleanup(self)
GPIO.cleanup()
if __name__ == '__main__':
try:
car = Car()
pid = PID(kp=1, ki=0.0, kd=0.1)
pid.SetExpectedOutput(15)
dist_list = []
min_speed = 30
FORWARD = True
while True:
##### perception ######
# ultrasonic sensing
dist_mov_ave = car.DistMeasureMovingAverage()
motor_speed = -pid.UpdateOutput(dist_mov_ave)
if motor_speed >= 0:
FORWARD = True
