# Signal handler to cleanup after shutdown
def handle_signal(signum, frame):
r = c.stop()
r.join()
sys.exit(0)
# SIGINT is interrupt signal sent by CTRL+C
signal.signal(signal.SIGINT, handle_signal)
while True:
# Read ambient light sensors
r = c.get_ambient_sensors().get_response()
front_side = r['L10'] + r['R10']
left_side = r['L45'] + r['L90']
right_side = r['R45'] + r['R90']
# The light source is straight ahead
if front_side < left_side and front_side < right_side:
c.set_speed(500, 500)
# Turn left
elif left_side < right_side:
c.set_speed(-500, 500)
# Turn right
else:
c.set_speed(500, -500)
time.sleep(0.1)
# Signal handler to cleanup after shutdown
def handle_signal(signum, frame):
r = c.stop()
r.join()
sys.exit(0)
# SIGINT is interrupt signal sent by CTRL+C
signal.signal(signal.SIGINT, handle_signal)
while True:
# Read ambient light sensors
r = c.get_ambient_sensors().get_response()
front_side = r['L10'] + r['R10']
left_side = r['L45'] + r['L90']
right_side = r['R45'] + r['R90']
# The light source is straight ahead
if front_side < left_side and front_side < right_side:
c.set_speed(500, 500)
# Turn left
elif left_side < right_side:
c.set_speed(-500, 500)
# Turn right
else:
c.set_speed(500, -500)
time.sleep(0.1)
