0a6ce8df24
Restruct all repositories Add : - Files UserWebSite - IA openCV Tuto - Alphabot docs for first maquette
100 lines
1.8 KiB
Python
100 lines
1.8 KiB
Python
import RPi.GPIO as GPIO
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import time
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from AlphaBot import AlphaBot
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Ab = AlphaBot()
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IR = 18
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PWM = 50
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n=0
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GPIO.setmode(GPIO.BCM)
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GPIO.setwarnings(False)
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GPIO.setup(IR,GPIO.IN,GPIO.PUD_UP)
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def getkey():
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if GPIO.input(IR) == 0:
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count = 0
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while GPIO.input(IR) == 0 and count < 200: #9ms
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count += 1
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time.sleep(0.00006)
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count = 0
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while GPIO.input(IR) == 1 and count < 80: #4.5ms
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count += 1
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time.sleep(0.00006)
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idx = 0
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cnt = 0
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data = [0,0,0,0]
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for i in range(0,32):
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count = 0
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while GPIO.input(IR) == 0 and count < 15: #0.56ms
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count += 1
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time.sleep(0.00006)
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count = 0
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while GPIO.input(IR) == 1 and count < 40: #0: 0.56mx
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count += 1 #1: 1.69ms
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time.sleep(0.00006)
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if count > 8:
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data[idx] |= 1<<cnt
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if cnt == 7:
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cnt = 0
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idx += 1
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else:
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cnt += 1
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print(data)
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if data[0]+data[1] == 0xFF and data[2]+data[3] == 0xFF: #check
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return data[2]
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if data[0] == 255 and data[1] == 255 and data[2] == 15 and data[3] == 255:
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return "repeat"
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print('IRremote Test Start ...')
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Ab.stop()
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try:
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while True:
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key = getkey()
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if(key != None):
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if key == "repeat":
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n = 0
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if key == 0x18:
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Ab.forward()
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# print("forward")
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if key == 0x08:
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Ab.left()
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# print("left")
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if key == 0x1c:
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Ab.stop()
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# print("stop")
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if key == 0x5a:
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Ab.right()
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# print("right")
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if key == 0x52:
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Ab.backward()
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# print("backward")
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if key == 0x15:
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if(PWM + 10 < 101):
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PWM = PWM + 10
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Ab.setPWMA(PWM)
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Ab.setPWMB(PWM)
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print(PWM)
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if key == 0x07:
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if(PWM - 10 > -1):
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PWM = PWM - 10
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Ab.setPWMA(PWM)
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Ab.setPWMB(PWM)
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print(PWM)
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else:
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n += 1
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if n > 20000:
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n = 0
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Ab.stop()
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except KeyboardInterrupt:
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GPIO.cleanup();
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