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Oct 19th, 2019
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  1. import RPi.GPIO as GPIO, time
  2. import sys
  3. import tkinter as tk
  4.  
  5. GPIO.setwarnings(False)
  6.  
  7. GPIO.setmode(GPIO.BCM)
  8. GPIO.setup(19, GPIO.OUT)
  9. GPIO.setup(18, GPIO.OUT)
  10. GPIO.setup(13, GPIO.OUT)
  11. GPIO.setup(12, GPIO.OUT)
  12. p = GPIO.PWM(19, 500)
  13. d = GPIO.PWM(13, 500)
  14.  
  15. def Forward(tf):
  16. d.start(1)
  17. p.start(1)
  18. GPIO.output(18, True)
  19. GPIO.output(12, False)
  20. time.sleep(tf)
  21. p.stop()
  22. d.stop()
  23.  
  24. def Reverse(tf):
  25. GPIO.output(18, False)
  26. GPIO.output(12, True)
  27. d.start(1)
  28. p.start(1)
  29. time.sleep(tf)
  30. p.stop()
  31. d.stop()
  32.  
  33. def RotateLeft(tf):
  34. GPIO.output(18, True)
  35. GPIO.output(12, True)
  36. d.start(1)
  37. p.start(1)
  38. time.sleep(tf)
  39. p.stop()
  40. d.stop()
  41.  
  42. def RotateRight(tf):
  43. GPIO.output(18, False)
  44. GPIO.output(12, False)
  45. d.start(1)
  46. p.start(1)
  47. time.sleep(tf)
  48. p.stop()
  49. d.stop()
  50.  
  51.  
  52. def key_input(event):
  53. print ('Key:', event.char)
  54. key_press = event.char
  55. sleep_time = 0.05
  56.  
  57.  
  58. if key_press.lower() == "w":
  59. Forward(sleep_time)
  60. elif key_press.lower() == 's':
  61. Reverse(sleep_time)
  62. elif key_press.lower() == 'd':
  63. RotateRight(sleep_time)
  64. elif key_press.lower() == 'a':
  65. RotateLeft(sleep_time)
  66.  
  67.  
  68. command = tk.Tk()
  69. command.bind('<KeyPress>', key_input)
  70. command.mainloop()
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