38 lines
1020 B
Python
38 lines
1020 B
Python
import time
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from Motor import *
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from ADC import *
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class Light:
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def run(self):
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try:
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self.adc=Adc()
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self.PWM=Motor()
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self.PWM.setMotorModel(0,0,0,0)
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while True:
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L = self.adc.recvADC(0)
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R = self.adc.recvADC(1)
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if L < 2.99 and R < 2.99 :
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self.PWM.setMotorModel(500,500,500,500)
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elif abs(L-R)<0.15:
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self.PWM.setMotorModel(0,0,0,0)
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elif L > 3 or R > 3:
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if L > R :
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self.PWM.setMotorModel(-1200,-1200,1400,1400)
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elif R > L :
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self.PWM.setMotorModel(1400,1400,-1200,-1200)
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except KeyboardInterrupt:
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led_Car.PWM.setMotorModel(0,0,0,0)
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if __name__=='__main__':
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print ('Program is starting ... ')
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led_Car=Light()
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led_Car.run()
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