9ae7f229e7
Repo initial CARIA : MAJ Interface Bootle amélioré - Optimisation de la structure - amélioration des fonctionnalités - debug . . .
39 lines
760 B
Python
39 lines
760 B
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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import RPi.GPIO as GPIO
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import time
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import sys
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sys.path.append('/home/christian/WebControl/modules/')
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from AlphaBot import AlphaBot
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Ab = AlphaBot()
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speed = 100
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DR = 16
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DL = 19
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GPIO.setmode(GPIO.BCM)
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GPIO.setwarnings(False)
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GPIO.setup(DR,GPIO.IN,GPIO.PUD_UP)
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GPIO.setup(DL,GPIO.IN,GPIO.PUD_UP)
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try:
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while True:
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DR_status = GPIO.input(DR)
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DL_status = GPIO.input(DL)
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if((DL_status == 1) and (DR_status == 1)):
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Ab.forward(speed)
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elif((DL_status == 1) and (DR_status == 0)):
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Ab.left(speed)
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elif((DL_status == 0) and (DR_status == 1)):
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Ab.right(speed)
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else:
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Ab.backward(speed)
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time.sleep(0.2)
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Ab.left(speed)
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time.sleep(0.2)
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Ab.stop()
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except KeyboardInterrupt:
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GPIO.cleanup();
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