final_code.py

import Adafruit_BBIO.ADC as ADC
import Adafruit_BBIO.PWM as PWM
import time

SENSOR_L = "P9_37"
SENSOR_R = "P9_38"
MOTOR_L = "P9_14"
MOTOR_R = "P8_13"
SENSOR_FRONT = "P9_39"
SENSOR_FLAG = "P9_40"

HIGH_L = 9.8
LOW_L = 7.6
HIGH_R = 1.2
LOW_R = 6.6

time_ini = 0
count = True
TOLERANCE = 2.0

ADC.setup()
PWM.start(MOTOR_L, 0, 50)
PWM.start(MOTOR_R, 0, 50)

def followInside():
	if(ADC.read(SENSOR_L) < 0.2):
		PWM.set_duty_cycle(MOTOR_L, LOW_L)
		PWM.set_duty_cycle(MOTOR_R, HIGH_R)
	else:
		PWM.set_duty_cycle(MOTOR_L, HIGH_L)
		PWM.set_duty_cycle(MOTOR_R, LOW_R)

def followOutside():
	if(ADC.read(SENSOR_R) < 0.4):
		PWM.set_duty_cycle(MOTOR_L, HIGH_L)
		PWM.set_duty_cycle(MOTOR_R, LOW_R)
	else:
		PWM.set_duty_cycle(MOTOR_L, LOW_L)
		PWM.set_duty_cycle(MOTOR_R, HIGH_R)
		
def stop():
	PWM.set_duty_cyle(MOTOR_R, 0)
	PWM.set_duty_cycle(MOTOR_L, 0)

while (1):
	
	
	if(ADC.read(SENSOR_FRONT) < 0.15):	 
		if(ADC.read(SENSOR_FLAG) < 0.4): #flag detected
			if(count): #bigger loop
				if(time.time() < time_ini + TOLERANCE): #dummy detected
					stop()
					time.sleep(2)
					time_ini = time.time()
					while(time.time() < time_ini + TOLERANCE):
						followInside()
					while(ADC.read(SENSOR_FLAG) > 0.4):
						followInside()
					time_ini = time.time()
					while(time.time() < time_ini + TOLERANCE):
						followInside()
				else: #dummy not detected
					time_ini = time.time()
					while(time.time() < time_ini + TOLERANCE):
						if(ADC.read(SENSOR_FRONT) > 0.15):
							stop()
						else:
							followOutside()
					count = False
			else: #smaller loop
				time_ini = time.time()
				while(time.time() < time_ini + TOLERANCE):
					if(ADC.read(SENSOR_FRONT) > 0.15):
						stop()
					else:
						followOutside()
		else: #flag not detected
			followOutside()
	else: #dummy detected	
		stop()
		time.sleep(0.05)
		if(ADC.read(SENSOR_FRONT) > 0.15):
			time_ini = time.time()