def move(self, direction, sensors, config):
if self.state == 'evading':
direction = 'stopped'
allowed = {'F': True, 'R': True}
if sensors['F'] < 25:
print 'Not allowed to drive forwards'
allowed['F'] = False
if sensors['R'] < 25:
print 'Not allowed to drive backwards'
allowed['R'] = False
if sensors['F'] < 25 or sensors['R'] < 25:
direction = 'stopped'
if sensors['F'] < 10:
direction = 'backwards'
if sensors['R'] < 10:
direction = 'forwards'
if sensors['F'] < 10 and sensors['R'] < 10:
direction = random.choice(['left', 'right'])
if sensors['F'] < 10 or sensors['R'] < 10:
self.state = 'evading'
print 'Evading', direction
if direction != self.state:
if self.state != 'evading':
self.state = direction
Config.update_config(config, 'Body', 'direction', direction)
if direction == 'forwards' and allowed['F']:
GPIO.output(35, False)
GPIO.output(36, False)
GPIO.output(37, True)
GPIO.output(38, True)
elif direction == 'backwards' and allowed['R']:
GPIO.output(35, True)
GPIO.output(36, True)
GPIO.output(37, False)
GPIO.output(38, False)
elif direction == 'left':
GPIO.output(35, False)
GPIO.output(36, True)
GPIO.output(37, True)
GPIO.output(38, False)
elif direction == 'right':
GPIO.output(35, True)
GPIO.output(36, False)
GPIO.output(37, False)
GPIO.output(38, True)
else:
self.stop(config)
print direction
def stop(self, config):
if self.state != 'stopped':
GPIO.output(35, False)
GPIO.output(36, False)
GPIO.output(37, False)
GPIO.output(38, False)
self.state = 'stopped'
Config.update_config(config, 'Body', 'direction', 'stopped')
