CARIA.1.0.0

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AlphaBot-CARIA/Pi-python/Infrared_Obstacle_Avoidance.py

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+import RPi.GPIO as GPIO
+import time
+from AlphaBot import AlphaBot
+
+Ab = AlphaBot()
+
+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)
+
+try:
+	while True:
+		DR_status = GPIO.input(DR)
+		DL_status = GPIO.input(DL)
+		if((DL_status == 1) and (DR_status == 1)):
+			Ab.forward()
+			print("forward")
+		elif((DL_status == 1) and (DR_status == 0)):
+			Ab.left()
+			print("left")
+		elif((DL_status == 0) and (DR_status == 1)):
+			Ab.right()
+			print("right")
+		else:
+			Ab.backward()
+			time.sleep(0.2)
+			Ab.left()
+			time.sleep(0.2)
+			Ab.stop()
+			print("backward")
+
+except KeyboardInterrupt:
+	GPIO.cleanup();
+