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- import grove_gesture_sensor
- from grove_rgb_lcd import *
- import time
- import Adafruit_PCA9685
- import grove_i2c_motor_driver
- pwm = Adafruit_PCA9685.PCA9685()
- pwm.set_pwm_freq(60)
- m= grove_i2c_motor_driver.motor_driver()
- def move(degree_1,degree_2):
- degree_1 = int(degree_1 * 5.27)
- degree_2 = int(degree_2 * 5.27)
- pwm.set_pwm(0, 0, degree_1)
- pwm.set_pwm(1, 0, degree_2)
- def main():
- g=grove_gesture_sensor.gesture()
- g.init()
- setText("Newtral\n-")
- setRGB(255,255,255) #White
- while True:
- gest=g.return_gesture()
- #Match the gesture
- if gest==g.FORWARD:
- print("FORWARD")
- setText("FORWARD")
- setRGB(255,0,255) #Magenta
- move(110,40)
- m.MotorSpeedSetAB(100,100)
- m.MotorDirectionSet(0b0101)
- time.sleep(0.5)
- move(70,40)
- m.MotorSpeedSetAB(0,0)
- time.sleep(0.5)
- move(90,40)
- time.sleep(0.5)
- elif gest==g.CLOCKWISE:
- print("CLOCKWISE")
- setText("CLOCKWISE")
- setRGB(255,255,255) #White
- move(110,20)
- m.MotorSpeedSetAB(100,100)
- m.MotorDirectionSet(0b1001)
- time.sleep(0.5)
- move(90,40)
- m.MotorSpeedSetAB(100,100)
- m.MotorDirectionSet(0b0110)
- move(70,60)
- time.sleep(0.5)
- m.MotorSpeedSetAB(0,0)
- move(90,40)
- time.sleep(0.5)
- elif gest==g.WAVE:
- print("WAVE")
- setText("WAVE")
- setRGB(255,255,0) #Yellow
- move(90,20)
- m.MotorSpeedSetAB(100,100)
- m.MotorDirectionSet(0b1010)
- time.sleep(0.5)
- move(90,60)
- m.MotorSpeedSetAB(0,0)
- time.sleep(0.5)
- move(90,40)
- time.sleep(0.5)
- elif gest==0:
- print("-")
- else:
- print("Error")
- time.sleep(.1)
- if __name__ == '__main__':
- main()
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