ucbot.py

import RPi.GPIO as gpio
import time
import sys
import Tkinter as tk
from sensor import distance
import random

# Setting up the BOARD
def init():
    gpio.setmode(gpio.BOARD)
    gpio.setup(7, gpio.OUT)
    gpio.setup(11, gpio.OUT)
    gpio.setup(13, gpio.OUT)
    gpio.setup(15, gpio.OUT)


#Setting up the output pins
def forward(tf):
    gpio.output(7, False)
    gpio.output(11, True)
    gpio.output(13, True)
    gpio.output(15, False)
    time.sleep(tf)
    gpio.cleanup()

def reverse(tf):
    gpio.output(7, True)
    gpio.output(11, False)
    gpio.output(13, False)
    gpio.output(15, True)
    time.sleep(tf)
    gpio.cleanup()

def turn_left(tf):
    gpio.output(7, True)
    gpio.output(11, True)
    gpio.output(13, True)
    gpio.output(15, False)
    time.sleep(tf)
    gpio.cleanup()

def turn_right(tf):
    gpio.output(7, False)
    gpio.output(11, True)
    gpio.output(13, False)
    gpio.output(15, False)
    time.sleep(tf)
    gpio.cleanup()

def pivot_left(tf):
    gpio.output(7, True)
    gpio.output(11, False)
    gpio.output(13, True)
    gpio.output(15, False)
    time.sleep(tf)
    gpio.cleanup()

def pivot_right(tf):
    gpio.output(7, False)
    gpio.output(11, True)
    gpio.output(13, False)
    gpio.output(15, True)
    time.sleep(tf)
    gpio.cleanup()

def key_input (event):
    init()
    print 'Key:', event.char
    key_press = event.char
    sleep_time = 0.030

    if key_press.lower() == 'w':
        forward(sleep_time)
    elif key_press.lower() == 's':
        reverse(sleep_time)
    elif key_press.lower() == 'a':
        turn_left(sleep_time)
    elif key_press(sleep_time) == 'd':
        turn_right(sleep_time)
    elif key_press.lower() == 'q':
        pivot_left(sleep_time)
    elif key_press.lower() == 'e':
        pivot_right(sleep_time)

command = tk.Tk()
command.blind('<KeyPress>', key_input)
command.mainloop()