# 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)