pi2go.py 文件源码

def stepForwardOld(speed, stepsL, stepsR):
    # TODO don't allow nested call backs
    global leftCount, rightCount, intCountL, intCountR
    GPIO.add_event_detect(lineRight, GPIO.BOTH, callback=rightCounter, bouncetime=5)
    GPIO.add_event_detect(lineLeft, GPIO.BOTH, callback=leftCounter, bouncetime=5)
    leftCount = stepsL
    rightCount = stepsR
    lastL = 0
    lastR = 0
    intCountL = 0
    intCountR = 0
#    turnForward(speed, int (speed * stepsR / stepsL))
    forward(speed)