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Copy pathrobot4.py
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87 lines (74 loc) · 1.76 KB
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importRPi.GPIOasgpio
importtime
importsys
importTkinterastk
definit():
gpio.setmode(gpio.BOARD)
gpio.setup(7, gpio.OUT)
gpio.setup(11, gpio.OUT)
gpio.setup(13, gpio.OUT)
gpio.setup(15, gpio.OUT)
defforward(tf):
gpio.output(7, False)
gpio.output(11, True)
gpio.output(13, True)
gpio.output(15, False)
time.sleep(tf)
gpio.cleanup()
defreverse(tf):
gpio.output(7, True)
gpio.output(11, False)
gpio.output(13, False)
gpio.output(15, True)
time.sleep(tf)
gpio.cleanup()
defturn_left(tf):
gpio.output(7, True)
gpio.output(11, True)
gpio.output(13, True)
gpio.output(15, False)
time.sleep(tf)
gpio.cleanup()
defturn_right(tf):
gpio.output(7, False)
gpio.output(11, True)
gpio.output(13, False)
gpio.output(15, False)
time.sleep(tf)
gpio.cleanup()
defpivot_left(tf):
gpio.output(7, True)
gpio.output(11, False)
gpio.output(13, True)
gpio.output(15, False)
time.sleep(tf)
gpio.cleanup()
defpivot_right(tf):
gpio.output(7, False)
gpio.output(11, True)
gpio.output(13, False)
gpio.output(15, True)
time.sleep(tf)
gpio.cleanup()
defkey_input(event):
init()
print'Key:', event.char
key_press=event.char
sleep_time=0.030
ifkey_press.lower() =='w':
forward(sleep_time)
elifkey_press.lower() =='s':
reverse(sleep_time)
elifkey_press.lower() =='a':
turn_left(sleep_time)
elifkey_press.lower() =='d':
turn_right(sleep_time)
elifkey_press.lower() =='q':
pivot_left(sleep_time)
elifkey_press.lower() =='e':
pivot_right(sleep_time)
else:
pass
command=tk.Tk()
command.bind('<KeyPress>', key_input)
command.mainloop()