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piSetUp.py
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piSetUp.py
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# -*- coding: utf-8 -*-
"""
Created on Tue Nov 07 22:08:59 2017
@author: Michael Personal
"""
# =============================================================================
# =============================================================================
def piSetUp():
GPIO.setmode(GPIO.BOARD)
TIC1 = TIC()
TIC1.TICstart()
motorL = motor("left", [32, 31, 33])
encoderA = encoder("left", [26, 29], 50, motorL)
motorR = motor("right", [35, 36, 37])
encoderB = encoder("left", [38, 40], 50, motorR)
proxSensA= psensor("Front",[16,18], 50)
proxSensB= psensor("Left",[12,22], 35)
proxSensC= psensor("Right",[7,13], 35)
rob = robot(motorL, motorR, encoderA, encoderB, proxSensA, proxSensB, proxSensC)
rob.pinSetup()
tnow = time.time()
rob.obsDetect()
while(1):
rob.run()
TIC1.run()
if __name__== "__main__" :
from motor import motor
from encoder import encoder
from robot import robot
from proximity import psensor
from TIC import TIC
import time
import pygame
import sys
import RPi.GPIO as GPIO
from thread import start_new_thread
try:
piSetUp()
except KeyboardInterrupt:
pass
finally:
GPIO.cleanup()