Robotics-with-Raspberry-Pi/robot6.py at master · PythonProgramming/Robotics-with-Raspberry-Pi · GitHub

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import RPi.GPIO as gpio
import time
import sys
import Tkinter as tk
from sensor import distance
import random


def init():
    gpio.setmode(gpio.BOARD)
    gpio.setup(7, gpio.OUT)
    gpio.setup(11, gpio.OUT)
    gpio.setup(13, gpio.OUT)
    gpio.setup(15, gpio.OUT)

def forward(tf):
    gpio.output(7, False)
    gpio.output(11, True)
    gpio.output(13, True)
    gpio.output(15, False)
    time.sleep(tf)
    gpio.cleanup()

def reverse(tf):
    gpio.output(7, True)
    gpio.output(11, False)
    gpio.output(13, False)
    gpio.output(15, True)
    time.sleep(tf)
    gpio.cleanup()

def turn_left(tf):
    gpio.output(7, True)
    gpio.output(11, True)
    gpio.output(13, True)
    gpio.output(15, False)
    time.sleep(tf)
    gpio.cleanup()

def turn_right(tf):
    gpio.output(7, False)
    gpio.output(11, True)
    gpio.output(13, False)
    gpio.output(15, False)
    time.sleep(tf)
    gpio.cleanup()

def pivot_left(tf):
    gpio.output(7, True)
    gpio.output(11, False)
    gpio.output(13, True)
    gpio.output(15, False)
    time.sleep(tf)
    gpio.cleanup()

def pivot_right(tf):
    gpio.output(7, False)
    gpio.output(11, True)
    gpio.output(13, False)
    gpio.output(15, True)
    time.sleep(tf)
    gpio.cleanup()


'''
def key_input(event):
    init()
    print 'Key:', event.char
    key_press = event.char
    sleep_time = 0.030

    if key_press.lower() == 'w':
        forward(sleep_time)
    elif key_press.lower() == 's':
        reverse(sleep_time)
    elif key_press.lower() == 'a':
        turn_left(sleep_time)
    elif key_press.lower() == 'd':
        turn_right(sleep_time)
    elif key_press.lower() == 'q':
        pivot_left(sleep_time)
    elif key_press.lower() == 'e':
        pivot_right(sleep_time)
    else:
        pass

    curDis = distance('cm')
    print('curdis is',curDis)

    if curDis < 20:
        init()
        reverse(2)


command = tk.Tk()
command.bind('<KeyPress>', key_input)
command.mainloop()
'''

def check_front():
    init()
    dist = distance()

    if dist < 25:
        print('Too close,',dist)
        init()
        reverse(2)
        dist = distance()
        if dist < 25:
            print('Too close,',dist)
            init()
            pivot_left(3)
            init()
            reverse(2)
            dist = distance()
            if dist < 25:
                print('Too close, giving up',dist)
                sys.exit()


def autonomy():
    tf = 0.030
    x = random.randrange(0,4)

    if x == 0:
        for y in range(30):
            check_front()
            init()
            forward(tf)
    elif x == 1:
        for y in range(30):
            check_front()
            init()
            pivot_left(tf)
    elif x == 2:
        for y in range(30):
            check_front()
            init()
            turn_right(tf)
    elif x == 3:
        for y in range(30):
            check_front()
            init()
            turn_left(tf)

for z in range(10):
    autonomy()