44 lines
1.4 KiB
Python
44 lines
1.4 KiB
Python
import time
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from Motor import *
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import RPi.GPIO as GPIO
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class Line_Tracking:
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def __init__(self):
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self.IR01 = 14
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self.IR02 = 15
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self.IR03 = 23
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GPIO.setmode(GPIO.BCM)
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GPIO.setup(self.IR01,GPIO.IN)
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GPIO.setup(self.IR02,GPIO.IN)
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GPIO.setup(self.IR03,GPIO.IN)
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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(self.IR01)==True:
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self.LMR=(self.LMR | 4)
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if GPIO.input(self.IR02)==True:
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self.LMR=(self.LMR | 2)
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if GPIO.input(self.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(-1500,-1500,2500,2500)
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elif self.LMR==6:
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PWM.setMotorModel(-2000,-2000,4000,4000)
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elif self.LMR==1:
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PWM.setMotorModel(2500,2500,-1500,-1500)
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elif self.LMR==3:
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PWM.setMotorModel(4000,4000,-2000,-2000)
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elif self.LMR==7:
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#pass
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PWM.setMotorModel(0,0,0,0)
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infrared=Line_Tracking()
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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 will be executed.
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PWM.setMotorModel(0,0,0,0)
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