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64 lines
1.1 KiB
Python
64 lines
1.1 KiB
Python
6 years ago
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import RPi.GPIO as GPIO
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import time
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from AlphaBot2 import AlphaBot2
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Ab = AlphaBot2()
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CTR = 7
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A = 8
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B = 9
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C = 10
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D = 11
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BUZ = 4
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def beep_on():
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GPIO.output(BUZ,GPIO.HIGH)
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def beep_off():
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GPIO.output(BUZ,GPIO.LOW)
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GPIO.setmode(GPIO.BCM)
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GPIO.setwarnings(False)
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GPIO.setup(CTR,GPIO.IN,GPIO.PUD_UP)
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GPIO.setup(A,GPIO.IN,GPIO.PUD_UP)
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GPIO.setup(B,GPIO.IN,GPIO.PUD_UP)
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GPIO.setup(C,GPIO.IN,GPIO.PUD_UP)
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GPIO.setup(D,GPIO.IN,GPIO.PUD_UP)
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GPIO.setup(BUZ,GPIO.OUT)
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try:
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while True:
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if GPIO.input(CTR) == 0:
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beep_on();
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Ab.stop();
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print("center")
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while GPIO.input(CTR) == 0:
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time.sleep(0.01)
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elif GPIO.input(A) == 0:
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beep_on();
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Ab.forward();
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print("up")
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while GPIO.input(A) == 0:
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time.sleep(0.01)
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elif GPIO.input(B) == 0:
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beep_on();
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Ab.right();
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print("right")
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while GPIO.input(B) == 0:
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time.sleep(0.01)
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elif GPIO.input(C) == 0:
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beep_on();
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Ab.left();
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print("left")
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while GPIO.input(C) == 0:
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time.sleep(0.01)
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elif GPIO.input(D) == 0:
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beep_on();
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Ab.backward();
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print("down")
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while GPIO.input(D) == 0:
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time.sleep(0.01)
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else:
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beep_off();
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except KeyboardInterrupt:
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GPIO.cleanup()
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