def start(arg=None):
global is_running
is_running = True
while is_running:
# Decide
dir = Sonar.get_direction()
print("Moving in direction " + dir)
if dir == "forward" and Motor.get_state() != "Forward":
Motor.forward()
elif dir == "turnleft" and Motor.get_state() != "Turning Left":
Motor.turn_left(9)
elif dir == "turnright" and Motor.get_state() != "Turning Right":
Motor.turn_right(9)
elif dir == "reverse" and Motor.get_state() != "Reverse":
Motor.reverse()
time.sleep(2)
elif dir == "stop":
Motor.stop()
print("Motor stopped")
def setup(config):
Motor.GPIO = GPIO
Sonar.GPIO = GPIO
Sonar.setup(config['sonar'])
def track5(arg=None):
Sonar.look_at_angle(135)
def track4(arg=None):
Sonar.look_at_angle(45)
def track2(arg=None):
Sonar.look_at_angle(90)
def track3(arg=None):
Sonar.look_at_angle(180)
def track1(arg=None):
Sonar.look(int(arg))
def destroy():
Motor.destroy()
Sonar.destroy()