robotkeyboardcontrols.py

#a program to control a raspberry pi robot using a keyboard through vnc

import RPi.GPIO as GPIO # Import the GPIO Library
import time # Import the Time library
 # Set the GPIO modes
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
 # Set variables for the GPIO motor pins
pinMotorAForwards = 10
pinMotorABackwards = 9
pinMotorBForwards = 8
pinMotorBBackwards = 7
 # Set the GPIO Pin mode
GPIO.setup(pinMotorAForwards, GPIO.OUT)
GPIO.setup(pinMotorABackwards, GPIO.OUT)
GPIO.setup(pinMotorBForwards, GPIO.OUT)
GPIO.setup(pinMotorBBackwards, GPIO.OUT)
 # Turn all motors off
def StopMotors():
    GPIO.output(pinMotorAForwards, 0)
    GPIO.output(pinMotorABackwards, 0)
    GPIO.output(pinMotorBForwards, 0)
    GPIO.output(pinMotorBBackwards, 0)
 # Turn both motors forwards
def Forwards():
    GPIO.output(pinMotorAForwards, 1)
    GPIO.output(pinMotorABackwards, 0)
    GPIO.output(pinMotorBForwards, 1)
    GPIO.output(pinMotorBBackwards, 0)
 # Turn both motors backwards
def Backwards():
    GPIO.output(pinMotorAForwards, 0)
    GPIO.output(pinMotorABackwards, 1)
    GPIO.output(pinMotorBForwards, 0)
    GPIO.output(pinMotorBBackwards, 1)
def Left():
    GPIO.output(pinMotorAForwards, 1)
    GPIO.output(pinMotorABackwards, 0)
    GPIO.output(pinMotorBForwards, 0)
    GPIO.output(pinMotorBBackwards, 1)
def Right():
    GPIO.output(pinMotorAForwards, 0)
    GPIO.output(pinMotorABackwards, 1)
    GPIO.output(pinMotorBForwards, 1)
    GPIO.output(pinMotorBBackwards, 0)

import sys, termios, tty, os
def getch():
    fd = sys.stdin.fileno()
    old_settings = termios.tcgetattr(fd)
    try:
        tty.setraw(sys.stdin.fileno())
        ch = sys.stdin.read(1)
    finally:
        termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
    return ch
PIN_LED = 25
GPIO.setup(PIN_LED, GPIO.OUT)
GPIO.output(PIN_LED, 0)
button_delay = 0.2
for x in range(0,3):
    GPIO.output(PIN_LED, 1)
    time.sleep(0.25)
    GPIO.output(PIN_LED, 0)
    time.sleep(0.25)
while True:
    char = getch()
    if (char == "q"):
        StopMotors()
        exit(0)  
    if (char == "a"):
        print 'Left pressed'
        Left()
        time.sleep(button_delay)
        StopMotors()
    if (char == "d"):
        print 'Right pressed'
        Right()
        time.sleep(button_delay)          
        StopMotors()
    elif (char == "w"):
        print 'Up pressed' 
        Forwards()       
        time.sleep(button_delay)          
        StopMotors()
    elif (char == "s"):
        print 'Down pressed'      
        Backwards()
        time.sleep(button_delay)
        StopMotors()
    
StopMotors()