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Alphabot2-Lab/Joystick.py

+import RPi.GPIO as GPIO
+import time
+from AlphaBot2 import AlphaBot2
+
+Ab = AlphaBot2()
+
+CTR = 7
+A = 8
+B = 9
+C = 10
+D = 11
+BUZ = 4
+
+def beep_on():
+	GPIO.output(BUZ,GPIO.HIGH)
+def beep_off():
+	GPIO.output(BUZ,GPIO.LOW)
+	
+GPIO.setmode(GPIO.BCM)
+GPIO.setwarnings(False)
+GPIO.setup(CTR,GPIO.IN,GPIO.PUD_UP)
+GPIO.setup(A,GPIO.IN,GPIO.PUD_UP)
+GPIO.setup(B,GPIO.IN,GPIO.PUD_UP)
+GPIO.setup(C,GPIO.IN,GPIO.PUD_UP)
+GPIO.setup(D,GPIO.IN,GPIO.PUD_UP)
+GPIO.setup(BUZ,GPIO.OUT)
+
+try:
+	while True:
+		if GPIO.input(CTR) == 0:
+			beep_on();
+			Ab.stop();
+			print("center")
+			while GPIO.input(CTR) == 0:
+				time.sleep(0.01)
+		elif GPIO.input(A) == 0:
+			beep_on();
+			Ab.forward();
+			print("up")
+			while GPIO.input(A) == 0:
+				time.sleep(0.01)
+		elif GPIO.input(B) == 0:
+			beep_on();
+			Ab.right();
+			print("right")
+			while GPIO.input(B) == 0:
+				time.sleep(0.01)
+		elif GPIO.input(C) == 0:
+			beep_on();
+			Ab.left();
+			print("left")
+			while GPIO.input(C) == 0:
+				time.sleep(0.01)
+		elif GPIO.input(D) == 0:
+			beep_on();
+			Ab.backward();
+			print("down")
+			while GPIO.input(D) == 0:
+				time.sleep(0.01)
+		else:
+			beep_off();
+
+except KeyboardInterrupt:
+	GPIO.cleanup()
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