import numpy as np
import sys, select
import cv2
import time
import os
import RPi.GPIO as GPIO
from minisumo_motorcontrol2 import Motors_Class
from lineSense2 import lineSensor_Class
from shortrangemethod import shortrange_Class
from minisumo_motorcontrol3 import Motors_Class2
#anything less than 15 switch to short range sensors
motor1 = Motors_Class()
lineSensors = lineSensor_Class()
shortrange = shortrange_Class()
motor2 = Motors_Class2()
cap = cv2.VideoCapture(0)
SPICLK = 18
SPIMISO = 23
SPIMOSI = 24
SPICS = 25
class longrange_Class:
def __init__(self):
GPIO.setmode(GPIO.BCM)
global SPICLK
global SPIMISO
global SPIMOSI
global SPICS
import time
from lineSense2 import lineSensor_Class
from minisumo_motorcontrol2 import Motors_Class
from longrangemethod import longrange_Class
from shortrangemethod import shortrange_Class
lineSensors= lineSensor_Class()
motors= Motors_Class()
longrange= longrange_Class()
shortrange= shortrange_Class()
motors.motor_move("w",4)
while(True):
if(1==lineSensors.check1()):
motors.motor_move("x",0)
time.sleep(1)
motors.motor_move("s",4)
elif(1==lineSensors.check2()):
motors.motor_move('x',0)
time.sleep(1)
motors.motor_move('s',4)
elif(1==lineSensors.check3()):
motors.motor_move('x',0)
time.sleep(1)
motors.motor_move('s',4)
elif(1==lineSensors.check4()):
motors.motor_move('x',0)
time.sleep(1)
motors.motor_move('s',4)
elif(shortrange.rngsens()>3):
motors.motor_move('x',0)
