tty.setraw(sys.stdin.fileno())
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
return ch
while True:
print('dm1: ', DS1.dm_1())
print('dm2: ', DS2.dm_2())
time.sleep(0.01)
MD.all_motor_pwm_forward(50)
dalnomer1 = DS1.dm_1()
dalnomer2 = DS2.dm_2()
if dalnomer1 < 25:
if dalnomer2 > 25:
time.sleep(3)
MD.stop()
MD.motor_pwm_forw_1(50)
MD.motor_pwm_reverse_2(0)
if dalnomer2 < 25:
time.sleep(3)
MD.stop()
MD.motor_pwm_forw_2(50)
import motor_driver_new as MD
import com_distance_sensor_2 as DS
import button_script as BS
#side = right
t_a = 0.2 #time of moving forward/backward to make 1 step
t_b = 0.3 #time for turn on 90 degrees
p_s = 90 #power for steps
p_t = 60 #power for turns
c_a = 25 #dalnomer critical value
while 1:
but_f1 = BS.button1_status()
dm_2 = DS.dm2()
if but_f == 0 and dm_2 <= c_a:
MD.all_motor_pwm_forward(p_s)
sleep(t_a)
MD.stop()
if but_f == 0 and dm_2 > c_a:
MD.all_motor_pwm_forward(p_s)
sleep(t_a)
MD.stop()
MD.motor_pwm_forw_1(p_t)
MD.motor_pwm_reverse_2(p_t)
sleep(t_b)
MD.stop()
MD.all_motor_pwm_forward(p_s)
sleep(t_a)
MD.stop()
if but_f == 1 and dm_2 <= c_a:
MD.all_motor_pwm_reverse(p_s)
return 1
else:
return 0
def button2_status():
curr2 = GPIO.input(10)
#print("b2",curr2)
if curr2 == 0:
return 1
else:
return 0
but_1 = button1_status()
while True:
MD.all_motor_pwm_forward(p1)
time.sleep(1)
MD.stop()
but_1 = button1_status()
dm_1 = DS1.dm_1()
if but_1 ==1:
MD.all_motor_pwm_reverse(p2)
MD.motor_pwm_forw_1(p4)
MD.motor_pwm_forw_2(p3)
time.sleep(1)
MD.stop()
dm_1 = DS1.dm_1()
if DS1.dm_1() < l:
MD.motor_pwm_forw_1(p8)
MD.motor_pwm_forw_2(p7)
time.sleep(1)
import motor_driver_new as MD #Импортируем код с моторов
from time import sleep #Импортируем sleep
import serial1 as S
#импорт кода дальномеров
while 1
MD.all_motor_pwm_forward(30)
time.sleep(0.25)
dalnomer1 = S.dm_1()
dalnomer2 = S.dm_2()
print('dalnomer1', dalnomer1)
print('dalnomer2', dalnomer2)
if dalnomer1 < 10:
MD.stop(1)
if dalnomer2 > 20:
MD.motor_pwm_forw_2(50)
MD.motor_pwm_reverse_1(50)
time.sleep(0.33)
stop()
dalnomer1 = S.dm_1()
dalnomer2 = S.dm_2()
print('dalnomer1', dalnomer1)
print('dalnomer2', dalnomer2)
if dalnomer1 > 20:
MD.all_motor_pwm_forward(30)
dalnomer1 = S.dm_1()
if dalnomer1 < 5
MD.stop(1)
else: