CARIA.2.2

Update for the final presentation
huge change with previous version

WebControl/apps/infrared_obstacle_avoidance.py

@@ -1,38 +1,36 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 import RPi.GPIO as GPIO
-import time
-import sys
+import time, sys
 sys.path.append('/home/christian/WebControl/modules/')
 from AlphaBot import AlphaBot
-
 Ab = AlphaBot()
-speed = 100
-DR = 16
-DL = 19
 
-GPIO.setmode(GPIO.BCM)
-GPIO.setwarnings(False)
-GPIO.setup(DR,GPIO.IN,GPIO.PUD_UP)
-GPIO.setup(DL,GPIO.IN,GPIO.PUD_UP)
+status = "initialization"
+duration = 0.1
+speed = 20
 
 try:
-	while True:
-		DR_status = GPIO.input(DR)
-		DL_status = GPIO.input(DL)
-		if((DL_status == 1) and (DR_status == 1)):
-			Ab.forward(speed)
-		elif((DL_status == 1) and (DR_status == 0)):
-			Ab.left(speed)
-		elif((DL_status == 0) and (DR_status == 1)):
-			Ab.right(speed)
-		else:
-			Ab.backward(speed)
-			time.sleep(0.2)
-			Ab.left(speed)
-			time.sleep(0.2)
-			Ab.stop()
-
+    start_time = time.time()  # Enregistrer l'heure de début
+    while time.time() - start_time < 10:  # Boucle pendant 5 seconde
+        OBSTACLE_PIN_status = GPIO.input(Ab.OBSTACLE_PIN)
+        if OBSTACLE_PIN_status == 1:
+            Ab.forward(duration, speed)
+            status = "operation successful"
+        else:
+            Ab.emergencystop()
+            status = "emergency stop successful"
 except KeyboardInterrupt:
-	GPIO.cleanup();
+    print("Interruption par l'utilisateur.")
+    status = "interrupted"
+finally:
+    Ab.cleanup()
+# Vérification finale et affichage du statut
+if status == "operation successful" or status == "emergency stop successful":
+    print(f"Le composant fonctionne correctement: {status}.")
+    fonctionnement_ok = True
+else:
+    print(f"Le composant a rencontré un problème: {status}.")
+    fonctionnement_ok = False
 
+Ab.enregistrer_resultats(sys.argv[0], fonctionnement_ok, status)