Robotic_spider_simple_control_code

import RPi.GPIO as GPIO
import time, os
from time import sleep
import getch
global val
val = 30
run_once = 0
#servo
GPIO.setmode(GPIO.BCM)
GPIO.setup(18, GPIO.OUT)
#Turn L/R DC motor
GPIO.setup(26, GPIO.OUT)
GPIO.setup(19, GPIO.OUT)
GPIO.output(26, 0)       # set port/pin value to 1/GPIO.HIGH/True
GPIO.output(19, 0)       # set port/pin value to 1/GPIO.HIGH/True
#Walking DC motor
GPIO.setup(24, GPIO.OUT)
GPIO.setup(13, GPIO.OUT)
GPIO.output(24, 0)       # set port/pin value to 1/GPIO.HIGH/True
GPIO.output(13, 0)       # set port/pin value to 1/GPIO.HIGH/True

pwm=GPIO.PWM(18, 50)
pwm.start(0)
GPIO.setwarnings(False)

def temperature_of_raspberry_pi():
    cpu_temp = os.popen("vcgencmd measure_temp").readline()
    return cpu_temp.replace("temp=", "")

def help_function():
    print("_________________Help function_________________")
    print("W key: Move forward")
    print("S key: Move backward")
    print("A key: Steer head left")
    print("D key: Steer head right")
    print("E key: Move head up")
    print("Q key: Move head down")
    print("Z key: Move head to the lowest position")
    print("X key: Move head to the highest position")
    print("C key: Move head to middle position")
    print("T key: To show CPU temperature")
    print("P key: To quit program and clear gpio outputs")
    print("H key: For help_function")
    print("Project created by IGI 2022/23. Basic functions")
    print("are implemented.")
    print("I/O pins definitions:")
    print("Servo for the head is atteched in pin 18")
    print("DC motor for F/B is attached in pins 24 and 13")
    print("DC motor for L/R is attached in pins 26 and 19")


def StartUp():
    SetAngle(70)
    sleep(1)
    SetAngle(16)
    sleep(1)
    SetAngle(30)
    GPIO.output(26, 1)
    GPIO.output(19, 0)
    sleep(0.5)
    GPIO.output(26, 0)
    GPIO.output(19, 1)
    sleep(1)
    GPIO.output(26, 1)
    GPIO.output(19, 0)
    sleep(0.5)
    GPIO.output(26, 0)
    GPIO.output(19, 0)
    GPIO.output(24, 0)
    GPIO.output(13, 1)
    sleep(0.5)
    GPIO.output(24, 0)
    GPIO.output(13, 0)
    sleep(0.5)
    GPIO.output(24, 1)
    GPIO.output(13, 0)
    sleep(0.5)
    GPIO.output(24, 0)
    GPIO.output(13, 0)

def SetAngle(angle):
    duty = angle / 18 + 2
    GPIO.output(18, True)
    pwm.ChangeDutyCycle(duty)
    sleep(0.25)
    GPIO.output(18, False)
    pwm.ChangeDutyCycle(0)

def neck_up():      #moves neck servo up
    global val
    val = val + 2
    print(val)
    SetAngle(val)

def neck_down():      #moves neck servo down
    global val
    val = val - 2
    print(val)
    SetAngle(val)

t0 = time.time()

while True:
    # Keyboard character retrieval method is called and saved
    # into variable

    if run_once == 0:
        print("Start-up sequence.")
        StartUp()
        print("Motor functionality checked motors perform as they should.")
        sleep(2)
        print("Show help function.")
        sleep(2)
        help_function()
        run_once = 1


    char = getch.getche()

    if (char == "t"):
        print(temperature_of_raspberry_pi())

    if(char == "q"):
        print("Neck up")
        neck_up()

    if(char == "e"):
        print("Neck down")
        neck_down()

    if(char == "z"):
        print("Neck upper position")
        SetAngle(70)

    if(char == "x"):
        print("Neck in place (middle position)")
        SetAngle(30)

    if(char == "c"):
        print("Neck lower position")
        SetAngle(16)

    if(char == "a"):
        print("Neck left")
        GPIO.output(26, 0)
        GPIO.output(19, 0)
        GPIO.output(26, 1)
        GPIO.output(19, 0)
        sleep(0.01)
        GPIO.output(26, 0)
        GPIO.output(19, 0)

    if(char == "d"):
        print("Neck right")
        GPIO.output(26, 0)
        GPIO.output(19, 0)
        GPIO.output(26, 0)
        GPIO.output(19, 1)
        sleep(0.01)
        GPIO.output(26, 0)
        GPIO.output(19, 0)

    if(char == "w"):
        print("Move Forward")
        GPIO.output(24, 0)
        GPIO.output(13, 0)
        GPIO.output(24, 0)
        GPIO.output(13, 1)
        sleep(0.02)
        GPIO.output(24, 0)
        GPIO.output(13, 0)

    if(char == "s"):
        print("Move Backward")
        GPIO.output(24, 0)
        GPIO.output(13, 0)
        GPIO.output(24, 1)
        GPIO.output(13, 0)
        sleep(0.02)
        GPIO.output(24, 0)
        GPIO.output(13, 0)

    if(char == "k"):
        print("Dancing")
        GPIO.output(26, 0)
        GPIO.output(19, 0)
        GPIO.output(26, 0)
        GPIO.output(19, 1)
        GPIO.output(24, 0)
        GPIO.output(13, 0)
        GPIO.output(24, 1)
        GPIO.output(13, 0)
        sleep(0.02)
        GPIO.output(26, 0)
        GPIO.output(19, 0)
        GPIO.output(24, 0)
        GPIO.output(13, 0)

    if(char == "h"):
        help_function()


    # The "p" key will break the loop and exit the program
    if(char == "p"):
        print("Program Ended")
        break

    # At the end of each loop

    # The keyboard character variable will be set to blank, ready
    # to save the next key that is pressed
    char = ""

# Program will cease all GPIO activity before terminating
pwm.stop()
GPIO.cleanup()