def drive_back(dalek_settings, time_to_drive):
'''
used when testing so you dont have to keep getting up.
'''
debug.print_to_all_devices("Start drive back")
drive.backward(50)
time.sleep(time_to_drive)
debug.print_to_all_devices("end drive back")
def dpad_down_button_pressed():
if ps3_ControllerMode == 2: # 2 Mission Select Mode
challenge_select(1)
elif ps3_ControllerMode == 1:
debug.print_to_all_devices('Backwards', "BW")
drive.backward(dalek_settings.speed)
else:
head_controller.eye_move_down()
def drive_forwards_to_distance(distance=distance_to_wall):
# counter =0
print("drive_forwards_to_distance()")
while DalekSensors.front_distance != distance:
# get the speed to drive at
speed = CalculateSpeedToDrive(DalekSensors.front_distance, distance)
if DalekSensors.front_distance <= distance:
drive.backward(speed)
print("drive_backwards()")
else:
drive.paddleForward(speed, speed)
drive.stop()
def driveBackwardsToDistance(distance):
DalekPrint("driveBackwards()")
dalekData = spi.readDevice1Data()
while dalekData['rearPing'] != distance:
dalekSpeed = CalculateSpeedToDrive(dalekData['rearPing'], distance)
if dalekData['rearPing'] <= distance:
drive.forward(dalekSpeed)
else:
drive.backward(dalekSpeed)
dalekData = spi.readDevice1Data()
def drive_backwards_to_distance(distance=distance_to_wall):
print("driveBackwards()")
while DalekSensors.rear_distance != distance:
dalekSpeed = CalculateSpeedToDrive(
DalekSensors.rear_distance, distance)
if DalekSensors.rear_distance <= distance:
drive.forward(dalekSpeed)
else:
drive.backward(dalekSpeed)
drive.stop()
# GPIO.setup(pinMotorBRSpeed, GPIO.OUT)
# GPIO.setup(pinMotorBRForwards, GPIO.OUT)
# GPIO.setup(pinMotorBRBackwards, GPIO.OUT)
# pwmMotorBRSpeed = GPIO.PWM(pinMotorBRSpeed, Frequency)
# pwmMotorBRSpeed.start(Stop)
#######################
### main
#######################
while True:
# toggle the Back right motor
# GPIO.output(pin_motor_relay, GPIO.HIGH)
# time.sleep(1)
# print("on")
# GPIO.output(pin_motor_relay, GPIO.LOW)
# time.sleep(1)
# print("off")
# pwmMotorBRSpeed.ChangeDutyCycle(Speed)
# GPIO.output(pinMotorBRForwards, GPIO.HIGH)
# GPIO.output(pinMotorBRBackwards, GPIO.LOW)
drive.forward(30)
time.sleep(2)
drive.backward(30)
time.sleep(2)
drive.spinLeft(50)
time.sleep(2)
drive.spinRight(50)
time.sleep(2)
