43 lines
1.3 KiB
Python
43 lines
1.3 KiB
Python
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import time
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from Motor import *
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import RPi.GPIO as GPIO
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IR01 = 14
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IR02 = 15
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IR03 = 23
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GPIO.setmode(GPIO.BCM)
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GPIO.setup(IR01,GPIO.IN)
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GPIO.setup(IR02,GPIO.IN)
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GPIO.setup(IR03,GPIO.IN)
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class Infrared_Obstacle_Avoidance:
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def run(self):
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while True:
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self.LMR=0x00
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if GPIO.input(IR01)==True:
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self.LMR=(self.LMR | 4)
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if GPIO.input(IR02)==True:
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self.LMR=(self.LMR | 2)
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if GPIO.input(IR03)==True:
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self.LMR=(self.LMR | 1)
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if self.LMR==2:
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PWM.setMotorModel(800,800,800,800)
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elif self.LMR==4:
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PWM.setMotorModel(-1400,-1400,1400,1400)
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elif self.LMR==6:
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PWM.setMotorModel(-800,-800,1200,1200)
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elif self.LMR==1:
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PWM.setMotorModel(1400,1400,-1400,-1400)
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elif self.LMR==3:
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PWM.setMotorModel(1200,1200,-800,-800)
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elif self.LMR==7:
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PWM.setMotorModel(0,0,0,0)
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Infrared=Infrared_Obstacle_Avoidance()
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# Main program logic follows:
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if __name__ == '__main__':
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print ('Program is starting ... ')
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try:
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Infrared.run()
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except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program destroy() will be executed.
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PWM.setMotorModel(0,0,0,0)
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