"""
This class controls the RC car itself. It's intended to be the real-world
version of the carmunk simulation.
"""
import RPi.GPIO as GPIO
import time
class RCCar:
def __init__(self, left_p=13, right_p=15, forward_p=12, backward_p=11,
apply_time=0.3, wait_time=0):
self.left_p = left_p
self.right_p = right_p
self.forward_p = forward_p
self.backward_p = backward_p
self.apply_time = apply_time
self.wait_time = wait_time
print("Setting up GPIO pins.")
GPIO.setmode(GPIO.BOARD)
GPIO.setup(self.backward_p, GPIO.OUT) # Backwards.
GPIO.setup(self.forward_p, GPIO.OUT) # Forwards.
GPIO.setup(self.left_p, GPIO.OUT) # Left.
GPIO.setup(self.right_p, GPIO.OUT) # Right.
# Reset in case they're still on from before.
GPIO.output(self.backward_p, 0)
GPIO.output(self.forward_p, 0)
GPIO.output(self.left_p, 0)
GPIO.output(self.right_p, 0)
def cleanup_gpio(self):
print("Cleaning up GPIO pins.")
GPIO.cleanup()
def step(self, action):
"""
Actions are:
0: right, forward
1: left, forward
2: straight, forward
3: right, back
4: left, back
5: straight, back
"""
# Turning.
if action == 0 or action == 3: # Turn right.
GPIO.output(self.left_p, 0)
GPIO.output(self.right_p, 1)
print("Turning right.")
elif action == 1 or action == 4: # Turn left.
GPIO.output(self.right_p, 0)
GPIO.output(self.left_p, 1)
print("Turning left.")
else:
GPIO.output(self.left_p, 0)
GPIO.output(self.right_p, 0)
print("Going straight.")
# Forward or back.
if 0 <= action <= 2:
# Forwards.
GPIO.output(self.backward_p, 0)
GPIO.output(self.forward_p, 1)
print("Going forwards.")
else:
# Backwards.
GPIO.output(self.forward_p, 0)
GPIO.output(self.backward_p, 1)
print("Going backwards.")
# Acceling.
if self.apply_time > 0:
time.sleep(self.apply_time)
# Stop moving...
GPIO.output(self.backward_p, 0)
GPIO.output(self.forward_p, 0)
# Wait.
if self.wait_time > 0:
time.sleep(self.wait_time)
GPIO.output(self.left_p, 0)
GPIO.output(self.right_p, 0)
def recover(self):
for i in range(4):
self.step(5)
