def __init__(self, carName):
try:
# ================================================================
# ULTRASONIC MODULE DRIVER INITIALIZE
# ================================================================
self.distance_detector = Supersonic_Sensor.Supersonic_Sensor(35)
# ================================================================
# TRACKING MODULE DRIVER INITIALIZE
# ================================================================
self.line_detector = Tracking_Sensor.SEN040134_Tracking([16, 18, 22, 40, 32])
# ================================================================
# RGB MODULE DRIVER INITIALIZE
# ================================================================
# self.color_getter = RGB_Sensor.TCS34725()
# if self.color_getter.get_exception_occur():
# print("[ERRNO-101] There is a problem with RGB_Sensor(TCS34725)")
# ================================================================
# DISABLE RGB MODULE INTERRUPTION
# ================================================================
# self.color_getter.set_interrupt(False)
# ================================================================
# PCA9685(PWM 16-ch Extension Board) MODULE WAKEUP
# ================================================================
self.carEngine = PWM_Controller.PWM()
self.carEngine.startup()
# ================================================================
# FRONT WHEEL DRIVER SETUP
# ================================================================
self.steering = front_wheels.Front_Wheels(db='config')
self.steering.ready()
# ================================================================
# REAR WHEEL DRIVER SETUP
# ==================================================6==============
self.accelerator = rear_wheels.Rear_Wheels(db='config')
self.accelerator.ready()
# ================================================================
# SET LIMIT OF TURNING DEGREE
# ===============================================================
self.steering.turning_max = 35
# ================================================================
# SET FRONT WHEEL CENTOR ALLIGNMENT
# ================================================================
self.steering.center_alignment()
# ================================================================
# SET APPOINTED OF CAR NAME
# ================================================================
self.car_name = carName
except Exception as e:
print("CONTACT TO Kookmin Univ. Teaching Assistant")
print("Learn more : " + e)
def car_startup(self):
# implement the assignment code here
distance_detector = Supersonic_Sensor.Supersonic_Sensor(35)
Tracker = Tracking_Sensor.SEN040134_Tracking([16, 18, 22, 40, 32])
steering = front_wheels.Front_Wheels(db='config')
steering.center_alignment()
accelerator = rear_wheels.Rear_Wheels(db='config')
current = 0
previous = 0
lineValue = [[1,0,0,0,0], [1,1,0,0,0], [0,1,0,0,0], [0,1,1,0,0], [0,0,1,0,0,],
[0,0,1,1,0], [0,0,0,1,0], [0,0,0,1,1], [0,0,0,0,1]]
lineAngle = [-35, -25, -15, -5, 0, 5, 15, 25, 35]
obstacle = 0
avoidance = 0
reverse = 0
count = 0
accelerator.ready()
accelerator.go_forward(60)
while True:
if reverse == 1:
revrese = 0
accelerator.stop()
steering.turn(90 + lineAngle[0])
accelerator.go_forward(60)
line = Tracker.read_digital()
if avoidance == 0:
def car_startup(self):
# implement the assignment code here
distance_detector = Supersonic_Sensor.Supersonic_Sensor(35)
Tracker = Tracking_Sensor.SEN040134_Tracking([16, 18, 22, 40, 32])
steering = front_wheels.Front_Wheels(db='config')
steering.center_alignment()
accelerator = rear_wheels.Rear_Wheels(db='config')
current = 0
previous = 0
line_case = [[1, 0, 0, 0, 0], [1, 1, 0, 0, 0], [0, 1, 0, 0, 0],
[0, 1, 1, 0, 0], [
0,
0,
1,
0,
0,
], [0, 0, 1, 1, 0], [0, 0, 0, 1, 0], [0, 0, 0, 1, 1],
[0, 0, 0, 0, 1]]
line_angle = [-35, -25, -15, -5, 0, 5, 15, 25, 35]
obstacle = 0
accelerator.ready()
accelerator.go_forward(60)
while True:
distance = distance_detector.get_distance()
current = distance
current, previous == previous, current
print("Distance : ", distance)
time.sleep(0.0001)
if current < (previous - 30) or current > (previous + 30):
current == previous
if current <= 40:
steering.turn_left(90 + lineAngle[0])
if Tracker.read_digital == lineValue[0]:
steering.turn_right(90 + lineAngle[8])
for i in range(len(lineValue)):
if Tracker.read_digital() == lineValue[i]:
steering.turn_left(90 + lineAngle[i])
print("turn : {}".format(lineAngle[i]))
time.sleep(0.0001)
if Tracker.read_digital() == [1, 1, 1, 1, 1]:
break
if Tracker.read_digital() == [1, 1, 1, 1, 1]:
accelerator.stop()
steering.center_alignment()
print("rascar stop")
accelerator.power_down()
def __init__(self, car_name):
#self.car = Car(car_name)
self.line_detector = Tracking_Sensor.SEN040134_Tracking(
[16, 18, 22, 40, 32])
self.carEngine = PWM_Controller.PWM()
self.carEngine.startup()
self.steering = front_wheels.Front_Wheels(db='config')
self.steering.ready()
self.accelerator = rear_wheels.Rear_Wheels(db='config')
self.accelerator.ready()
self.steering.turning_max = 35
self.steering.center_alignment()
def moduleInitialize(self):
try:
# ================================================================
# ULTRASONIC MODULE DRIVER INITIALIZE
# ================================================================
self.distance_detector = Ultrasonic_Sensor.Ultrasonic_Avoidance(35)
# ================================================================
# TRACKING MODULE DRIVER INITIALIZE
# ================================================================
self.line_detector = Tracking_Sensor.SEN040134_Tracking(
[16, 18, 22, 40, 32])
# ================================================================
# RGB MODULE DRIVER INITIALIZE
# ================================================================
self.color_getter = RGB_Sensor.TCS34725()
# ================================================================
# FRONT WHEEL DRIVER SETUP
# ================================================================
self.front_steering = front_wheels.Front_Wheels(db='config')
self.front_steering.ready()
# ================================================================
# REAR WHEEL DRIVER SETUP
# ================================================================
self.rear_wheels_drive = rear_wheels.Rear_Wheels(db='config')
self.rear_wheels_drive.ready()
# ================================================================
# SET LIMIT OF TURNING DEGREE
# ===============================================================
self.front_steering.turning_max = 35
# ================================================================
# SET FRONT WHEEL CENTOR ALLIGNMENT
# ================================================================
self.front_steering.turn_straight()
# ================================================================
# DISABLE RGB MODULE INTERRUPTION
# ================================================================
self.color_getter.set_interrupt(False)
except:
print("MODULE INITIALIZE ERROR")
print("CONTACT TO Kookmin Univ. Teaching Assistant")
def car_startup(self):
# implement the assignment code here
Tracker = Tracking_Sensor.SEN040134_Tracking([16, 18, 22, 40, 32])
steering = front_wheels.Front_Wheels(db='config')
steering.center_alignment()
accelerator = rear_wheels.Rear_Wheels(db='config')
accelerator.ready()
accelerator.go_forward(80)
while Tracker.is_in_line() != False:
print("line detected")
time.sleep(0.0001)
if Tracker.read_digital()[1] == 1:
steering.turn_left(80)
print("turn left : 10")
time.sleep(0.0001)
elif Tracker.read_digital()[3] == 1:
steering.turn_right(100)
print("turn right : 10")
time.sleep(0.0001)
elif Tracker.read_digital()[0] == 1:
steering.turn_left(60)
print("turn left : 30")
time.sleep(0.0001)
elif Tracker.read_digital()[4] == 1:
steering.turn_right(120)
print("turn right : 30")
time.sleep(0.0001)
if Tracker.read_digital() == [0, 0, 0, 0, 0]:
break
if Tracker.is_in_line() == False:
accelerator.stop()
steering.center_alignment()
print("rascar stop")
accelerator.power_down()
def moduleInitialize(self):
try:
# ================================================================
# ULTRASONIC MODULE DRIVER INITIALIZE
# ================================================================
self.distance = Ultrasonic_Sensor.Ultrasonic_Avoidance(35)
# ================================================================
# TRACKING MODULE DRIVER INITIALIZE
# ================================================================
self.line = ts.SEN040134_Tracking([16, 18, 22, 40, 32])
# ================================================================
# FRONT WHEEL DRIVER SETUP
# ================================================================
self.direction = front_wheels.Front_Wheels(db='config')
self.direction.ready()
# ================================================================
# REAR WHEEL DRIVER SETUP
# ================================================================
self.drive = rear_wheels.Rear_Wheels(db='config')
self.drive.ready()
# ================================================================
# SET LIMIT OF TURNING DEGREE
# ===============================================================
self.direction.turning_max = 35
# ================================================================
# SET FRONT WHEEL CENTOR ALLIGNMENT
# ================================================================
self.direction.turn_straight()
self.getLineStatus = False
except:
print("MODULE INITIALIZE ERROR")
print("CONTACT TO Kookmin Univ. Teaching Assistant")
def car_startup(self):
# implement the assignment code here
distance_detector = Supersonic_Sensor.Supersonic_Sensor(35)
Tracker = Tracking_Sensor.SEN040134_Tracking([16, 18, 22, 40, 32])
steering = front_wheels.Front_Wheels(db='config')
steering.center_alignment()
accelerator = rear_wheels.Rear_Wheels(db='config')
current_line = Tracker.read_digital()
line_case = [[1,0,0,0,0], [1,1,0,0,0], [0,1,0,0,0], [0,1,1,0,0], [0,0,1,0,0], [0,0,1,1,0], [0,0,0,1,0], [0,0,0,1,1], [0,0,0,0,1]]
line_angle = [-35, -25, -15, -5, 0, 5, 15, 25, 35]
previous_line = [0,0,0,0,0]
obstacle = 0
count = 0
accelerator.ready()
accelerator.go_forward(60)
while True:
print(current_line)
time.sleep(0.0001)
distance = distance_detector.get_distance()
print("Distance : ", distance)
time.sleep(0.0001)
if 0 < distance <= 35 and distance != -1:
count += 1
if count >= 10:
accelerator.stop()
steering.turn(90 + line_angle[0])
accelerator.go_forward(60)
time.sleep(1)
accelerator.stop()
time.sleep(0.01)
steering.turn(90 + line_angle[8])
accelerator.go_forward(60)
time.sleep(1.9)
obstacle += 1
print("count obstacle : ", obstacle)
obstacle = 0
while True:
if current_line != [0,0,0,0,0]:
break
if current_line == line_case[0]:
steering.turn(90 + line_angle[0])
accelerator.go_forward(60)
elif current_line == line_case[1]:
steering.turn(90 + line_angle[1])
accelerator.go_forward(60)
elif current_line == line_case[2]:
steering.turn(90 + line_angle[2])
accelerator.go_forward(60)
elif current_line == line_case[3]:
steering.turn(90 + line_angle[3])
accelerator.go_forward(60)
elif current_line == line_case[4]:
steering.turn(90 + line_angle[4])
accelerator.go_forward(60)
elif current_line == line_case[5]:
steering.turn(90 + line_angle[5])
accelerator.go_forward(60)
elif current_line == line_case[6]:
steering.turn(90 + line_angle[6])
accelerator.go_forward(60)
elif current_line == line_case[7]:
steering.turn(90 + line_angle[7])
accelerator.go_forward(60)
elif current_line == line_case[8]:
steering.turn(90 + line_angle[8])
accelerator.go_forward(60)
if current_line == [0,0,0,0,0]:
steering.turn_right(100)
accelerator.go_backward(60)
time.sleep(0.33)
accelerator.stop()
elif current_line == [1,1,1,1,1]:
if obstacle == 2:
accelerator.stop()
break
else:
continue
#accelerator.stop()
#steering.center_alignment()
print("rascar stop")
accelerator.power_down()
from SEN040134 import SEN040134_Tracking as Tracking_Sensor
import time
import RPi.GPIO as GPIO
if __name__ == "__main__":
Tracker = Tracking_Sensor.SEN040134_Tracking([16, 18, 22, 40, 32])
try:
while True:
print("Current detection result: :", Tracker.read_digital())
print("The result of the driver detecting the line : ",
Tracker.is_in_line())
print("The result of detecting the center of the line :",
Tracker.is_center())
time.sleep(1)
except KeyboardInterrupt:
GPIO.cleanup()
def destroy():
rear_wheels.pwm_low()
FR.turn(90)
if __name__ == "__main__":
try:
# =======================================================================
# setup and initilaize the left motor and right motor
# =======================================================================
# ULTRASONIC MODULE DRIVER INITIALIZE
UA = SR02_Ultrasonic.Ultrasonic_Avoidance(35)
# TRACKING MODULE DRIVER INITIALIZE
LF = SEN040134_Tracking.SEN040134_Tracking([16, 18, 22, 40, 32])
# RGB MODULE DRIVER INITIALIZE
RM = TCS34725_RGB.TCS34725()
# FRONT WHEEL DRIVER SETUP
FR = front_wheels.Front_Wheels(db='config')
FR.ready()
# REAR WHEEL DRIVER SETUP
rear_wheels.setup(1)
# IS LINE FOLLOWER FR VAR SETUP
FR.turning_max = 35
# Front wheel Calibration
from SEN040134 import SEN040134_Tracking as Tracking_Sensor
import rear_wheels
import front_wheels
# import Tracking sensor module(time module included)
import time
import RPi.GPIO as GPIO
if __name__ == "__main__":
Tracker = Tracking_Sensor.SEN040134_Tracking()
steering = front_wheels()
accelerator = rear_wheels()
try:
while True:
data =Tracker.read_digital()
if data == [0,0,0,0,0]:
time.sleep(1)
afterdata =Tracker.read_digital()
if afterdata == [0,0,0,0,0]:
accelerator.stop()
break
if Tracker.is_in_line(data) == True:
accelerator.go_forward(30)
if Tracker.in_center(data) == True:
continue
else:
if data == [0,0,1,0,0]:
steering.center_alignment()
elif data == [1,0,0,0,0]:
steering.turn_left(35)
def car_startup(self):
Tracker = Tracking_Sensor.SEN040134_Tracking([16, 18, 22, 40, 32])
accelerator = rear_wheels.Rear_Wheels(db='config')
accelerator.ready()
steering = front_wheels.Front_Wheels(db='config')
steering.ready()
accelerator.forward_with_speed(20)
while (True):
print(" read digital : ", Tracker.read_digital())
time.sleep(0.2)
if ((Tracker.read_digital() == [1, 1, 1, 0, 0])):
steering.turn_left(75)
time.sleep(0.2)
elif (Tracker.read_digital() == [1, 0, 0, 0, 0]):
steering.turn_left(55)
time.sleep(0.2)
elif ((Tracker.read_digital() == [1, 1, 0, 0, 0])):
steering.turn_left(60)
time.sleep(0.2)
elif ((Tracker.read_digital() == [0, 1, 0, 0, 0])):
steering.turn_left(80)
time.sleep(0.2)
elif ((Tracker.read_digital() == [0, 1, 1, 0, 0])):
steering.turn_left(85)
time.sleep(0.2)
elif ((Tracker.read_digital() == [0, 0, 1, 0, 0])
or (Tracker.read_digital() == [0, 1, 0, 1, 0])
or (Tracker.read_digital() == [0, 1, 1, 1, 0])):
steering.turn(90)
time.sleep(0.2)
elif ((Tracker.read_digital() == [0, 0, 1, 1, 0])):
steering.turn_right(95)
time.sleep(0.2)
elif ((Tracker.read_digital() == [0, 0, 0, 1, 0])):
steering.turn_right(100)
time.sleep(0.2)
elif ((Tracker.read_digital() == [0, 0, 0, 1, 1])):
steering.turn_right(120)
time.sleep(0.2)
elif ((Tracker.read_digital() == [0, 0, 0, 0, 1])):
steering.turn_right(125)
time.sleep(0.2)
elif ((Tracker.read_digital() == [0, 0, 1, 1, 1])):
steering.turn_right(110)
time.sleep(0.2)
elif ((Tracker.read_digital() == [0, 0, 0, 0, 0])):
while (True):
print(Tracker.is_in_line)
time.sleep(0.2)
accelerator.backward_with_speed(20) # 라인벗어났을시 뒤로간다.
if (Tracker.is_in_line == True):
break
accelerator.stop()
time.sleep(0.2)
accelerator.forward_with_speed(20) # 다시 앞으로 가면서실
else:
steering.turn(90)
time.sleep(0.2)
# implement the assignment code here
pass
def car_startup(self):
# implement the assignment code here
distance_detector = Supersonic_Sensor.Supersonic_Sensor(35)
Tracker = Tracking_Sensor.SEN040134_Tracking([16, 18, 22, 40, 32])
steering = front_wheels.Front_Wheels(db='config')
steering.center_alignment()
accelerator = rear_wheels.Rear_Wheels(db='config')
current_line = Tracker.read_digital()
line_case = [[1,0,0,0,0], [1,1,0,0,0], [0,1,0,0,0], [0,1,1,0,0], [0,0,1,0,0], [0,0,1,1,0], [0,0,0,1,0], [0,0,0,1,1], [0,0,0,0,1]]
line_angle = [-35, -25, -15, -5, 0, 5, 15, 25, 35]
previous_line = [0,0,0,0,0]
avoidance = 0 # 각 동작들의 진행 상황을 알리는 지표
obstacle = 0 # 장애물 35cm 이내로 감지 시 감지했음을 알림
goBack = 0 # 코너 도는 중 라인트래커 센서가 라인 이탈 시 후진하도록 지정
count = 0 # 지금까지 돈 바퀴 수
angle = 0
current = 0
previous = 0
accelerator.ready()
accelerator.go_forward(60)
while True:
if goBack == 1:# 커브 회전 중 라인트래커 이탈한 경우에 필요
goBack = 0
accelerator.stop()
steering.turn(90 + line_angle[0])
accelerator.go_forward(60)
if avoidance == 0:
distance = distance_detector.get_distance() # 초음파 센서의 값이 튀는 것에 대한 에러처리
current = distance
current, previous == previous, current
print("Distance : ", distance)
time.sleep(0.0001)
if current < (previous - 30) or current > (previous + 30): # 초음파 센서의 값이 튀는 것에 대한 에러처리
current == previous
if 0 < current <= 35:
obstacle = 1
print("Obstacle detected")
else:
pass
if obstacle == 0: # 라인 주행에 필요
for i in range(len(line_case)):
if current_line == line_case[i]:
steering.turn(90 + line_angle[i])
previous_line = current_line
if avoidance == 1:
avoidance = 2
print("avoidance 1 -> 2")
elif avoidance == 3:
avoidance = 0
print("avoidance 3 -> 0")
break
elif obstacle == 1: # 장애물 회피에 필요
print("obstacle 1")
steering.turn(90 + line_angle[2])
print("turn")
avoidance = 1
obstacle = 0
while True:
if current_line == [0,0,0,0,0]:
print("Exit main track")
break
else:
pass
while True:
if Tracker.is_in_line() == True:
print("Line detected")
break
else:
pass
elif avoidance == 1:
pass
def car_startup(self):
count = 0
Tracker = Tracking_Sensor.SEN040134_Tracking([16, 18, 22, 40, 32])
accelerator = rear_wheels.Rear_Wheels(db='config')
distance_detector = Supersonic_Sensor.Supersonic_Sensor(35)
distance = distance_detector.get_distance()
accelerator.ready()
steering = front_wheels.Front_Wheels(db='config')
steering.ready()
accelerator.forward_with_speed(30)
while(True):
print(count)
distance = distance_detector.get_distance()
time.sleep(0.01)
if((distance < 15) and (distance > 5) and (distance != 6) and (distance != 7)):
print("distance", distance)
accelerator.stop()
time.sleep(0.1)
steering.turn(90)
time.sleep(0.1)
accelerator.backward_with_speed(30)
time.sleep(2)
steering.turn_left(35)
time.sleep(0.1)
accelerator.forward_with_speed(30)
time.sleep(1.5)
steering.turn(90)
time.sleep(1)
steering.turn_right(135)
time.sleep(3)
steering.turn_right(135)
while(True):
if(Tracker.is_in_line() == True):
steering.turn(90)
time.sleep(0.1)
accelerator.stop()
time.sleep(0.1)
accelerator.forward_with_speed(30)
time.sleep(1)
break;
if(Tracker.read_digital() == [1,0,0,0,0]):
steering.turn_left(35)
time.sleep(0.1)
accelerator.forward_with_speed(30)
time.sleep(0.5)
elif((Tracker.read_digital() == [1,1,0,0,0])):
steering.turn_left(60)
time.sleep(0.1)
elif((Tracker.read_digital() == [0,1,0,0,0])):
steering.turn_left(50)
time.sleep(0.1)
elif((Tracker.read_digital() == [1,1,1,0,0])):
steering.turn_left(75)
time.sleep(0.1)
elif((Tracker.read_digital() == [0,1,1,0,0])):
steering.turn_left(80)
time.sleep(0.1)
elif((Tracker.read_digital() == [1,1,1,1,0])):
steering.turn_left(70)
time.sleep(0.1)
elif((Tracker.read_digital() == [1,0,0,1,0])):
steering.turn_left(80)
time.sleep(0.1)
elif((Tracker.read_digital() == [0,0,1,0,0]) or (Tracker.read_digital() == [0,1,0,1,0]) or (Tracker.read_digital() == [0,1,1,1,0])):
steering.turn(90)
time.sleep(0.1)
elif((Tracker.read_digital() == [0,0,0,0,1])):
steering.turn_right(135)
time.sleep(0.1)
elif((Tracker.read_digital() == [0,0,0,1,1])):
steering.turn_right(120)
time.sleep(0.1)
elif((Tracker.read_digital() == [0,0,1,1,1])):
steering.turn_right(110)
time.sleep(0.1)
elif((Tracker.read_digital() == [0,1,1,1,1])):
steering.turn_right(110)
time.sleep(0.1)
elif((Tracker.read_digital() == [0,0,1,1,0])):
steering.turn_right(115)
time.sleep(0.1)
elif((Tracker.read_digital() == [0,0,0,1,0])):
steering.turn_right(125)
time.sleep(0.1)
elif((Tracker.read_digital() == [0,1,0,0,1])):
steering.turn_right(100)
time.sleep(0.1)
elif((Tracker.read_digital() == [0,0,0,0,0])):
accelerator.stop()
time.sleep(0.1)
steering.turn(90)
while(True):
print("Tracker.is_in_line : ", Tracker.is_in_line())
time.sleep(0.1)
accelerator.backward_with_speed(30)
if(Tracker.is_in_line() == True):
accelerator.stop()
time.sleep(0.1)
accelerator.forward_with_speed(20)
break;
elif((Tracker.read_digital() == [1,1,1,1,1])):
count = count+1
if(count >= 3):
break;
accelerator.forward_with_speed(30)
time.sleep(1)
else:
steering.turn(90)
time.sleep(0.1)
accelerator.stop()
accelerator.power_down()
# implement the assignment code here
pass
def __init__(self, carName: str):
file = open("driver_log.txt", "w")
# ================================================================
# ULTRASONIC MODULE DRIVER INITIALIZE
# ================================================================
try:
self.distance_detector = Supersonic_Sensor.Supersonic_Sensor(35)
file.write("ULTRASONIC MODULE DRIVER : OK\n")
except:
file.write("ULTRASONIC MODULE DRIVER : ERROR\n")
# ================================================================
# TRACKING MODULE DRIVER INITIALIZE
# ================================================================
try:
self.line_detector = Tracking_Sensor.SEN040134_Tracking([16, 18, 22, 40, 32])
file.write("TRACKING MODULE DRIVER : OK\n")
except:
file.write("TRACKING MODULE DRIVER : ERROR\n")
# ================================================================
# PCA9685(PWM 16-ch Extension Board) MODULE WAKEUP
# ================================================================
try:
self.carEngine = PWM_Controller.PWM()
self.carEngine.startup()
file.write("PCA9685 MODULE DRIVER : OK\n")
except:
file.write("PCA9685 MODULE WAKEUP : ERROR\n")
# ================================================================
# FRONT WHEEL DRIVER SETUP
# ================================================================
try:
self.steering = front_wheels.Front_Wheels(db='config')
self.steering.ready()
file.write("FRONT WHEEL DRIVER : OK\n")
except:
file.write("FRONT WHEEL DRIVER : ERROR\n")
# ================================================================
# REAR WHEEL DRIVER SETUP
# ==================================================6==============
try:
self.accelerator = rear_wheels.Rear_Wheels(db='config')
self.accelerator.ready()
file.write("REAR WHEEL DRIVER SETUP : OK\n")
except:
file.write("REAR WHEEL DRIVER SETUP : ERROR\n")
# ================================================================
# SET LIMIT OF TURNING DEGREE
# ===============================================================
self.steering.turning_max = 35
# ================================================================
# SET FRONT WHEEL CENTOR ALLIGNMENT
# ================================================================
self.steering.center_alignment()
# ================================================================
# SET APPOINTED OF CAR NAME
# ================================================================
self.car_name = carName
'''
except Exception as e:
print("CONTACT TO Kookmin Univ. Teaching Assistant")
print("Learn more : " + e)
'''
file.close()
