#can choose sensor

import RPi.GPIO as GPIO

from time import sleep

from datatime import datetime

sensor_out_recive =

print("please input how_times")

how_times = int(input())

print("plase input sleep_time that about motor acceleration")

sleep_time = int(input())

interbal = int(input())

#Stick sensor_pin+/- into 2 or 4 and 6

GPIO.setwarnings(False)

GPIO.setmode(GPIO.BCM)

GPIO.setup(sensor_out_recive,GPIO.IN) #recive pin

GPIO.setup(motor1_pwm,GPIO.OUT)

GPIO.setup(motor1_dir,GPIO.OUT)

GPIO.setup(motor2_pwm,GPIO.OUT)

GPIO.setup(motor2_dir,GPIO.OUT)

pdw1 = GPIO.PWM(motor1_pwm,50)

pdw2 = GPIO.PWM(motor2_pwm,50)

try:

count = 1

pdw1.start(0)

pdw2.start(0)

GPIO.output(motor1_dir,GPIO.HIGH) # HIGH is positive direction

GPIO.output(motor2_dir,GPIO.HIGH)

for i in range(100): #first speed up

pdw1.ChangeDutyCycle(i)

pdw2.ChangeDutyCycle(i)

sleep(sleep_time)

while i < how_times

if(GPIO.input(sensor_out_recive) == GPIO.LOW):

print(str(cnt) + "times")

count = count + 1

sleep(sleep_time)

for i in range(100,0,-10): #decelerate speed

pwm1.ChangeDutyCycle(i)

pdw2.ChangeDutyCycle(i)

sleep(sleep_time)

if i == 0: # finish decelerate speed

print("stop,Because sensor sense")

print("please choose 1 or 2")

select = int(input()) # select

if select == 1: #go staright

for i in range(100):

pwm1.ChangeDutyCycle(i)　#up speed

pwm2.ChangeDutyCycle(i)

sleep(sleep_time)

if select == 2: # go back

GPIO.output(motor1_dir,GPIO.LOW) #change direction

GPIO.output(motor2_dir,GPIO.LOW)

for i in range(100):# up speed

pwm1.ChangeDutyCycle(i)

pwm2.ChangeDutyCycle(i)

sleep(sleep_time)

else:

print(GPIO.input(sensor_out_recive))

print("go straight")

sleep(interbal)

for i range(100,0,-20);

pdw1.ChangeDutyCycle(i)

pdw2.ChangeDutyCycle(i)

print("decelerate speed")

except KeyboardlInterrput:

print("Interrput CTRL + c")

finally:

pdw1.stop()

pdw2.stop()

GPIO.clenup()

print("finish clenup")