def obstacle(self):
sensordata = readsensor()
self.clear={'F1':False,'F2':False,'F3':False,'L1':False,'L2':False,'R1':False,'R2':False}
if sensordata['F'] > 30 :
self.clear['F1'] = True
if sensordata['F'] > 45 :
self.clear['F2'] = True
if sensordata['F'] > 60 :
self.clear['F3'] = True
if sensordata['LF'] > 35 :
self.clear['L1'] = True
if sensordata['LF'] > 45 :
self.clear['L2'] = True
if sensordata['RF'] > 35 :
self.clear['R1'] = True
if sensordata['RF'] > 45 :
self.clear['R2'] = True
return (self.clear)
along with this program; if not, write to the Free Software Foundation,
Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
"""
import sys, time, os
import serial
import RPi.GPIO as GPIO
#import SerialOut
import config
from espeak import espeak
#from lidar_lite import Lidar_Lite
from AnaSensorData import readsensor
import PServo
##lidar = Lidar_Lite()
anasensor = readsensor()
Maestro = Controller()
a = 0
s = 0
l = 0
r = 0
start_time = time.time()
delay = 0.1 # set rest time between command sends
checksum = 0
GPIO.setmode(GPIO.BCM)
#sensors = ('IR1','IR2','IR3','US')
Maestro.setTarget (5,700)
def startup():
# SerialOut.reset()
