import gpiozero
import time
# Description: Code for testing the
# TCRT5000 IR Line Track Follower Sensor
# Author: Addison Sears-Collins
# Date: 05/29/2019


# Initialize line sensor to GPIO9
line_sensor = gpiozero.DigitalInputDevice(9)

while True:
  if line_sensor.is_active == False:
    print("Line detected")
  else:
    print("Line not detected")

  time.sleep(0.2) # wait for 0.2 seconds

import gpiozero

# File name: line_following_robot.py
# Code source (Matt-Timmons Brown): https://github.com/the-raspberry-pi-guy/raspirobots
# Date created: 5/29/2019
# Python version: 3.5.3
# Description: Follow a line using a TCRT5000 IR
# Line Following Sensor

robot = gpiozero.Robot(left=(22,27), right=(17,18))

left = gpiozero.DigitalInputDevice(9)
right = gpiozero.DigitalInputDevice(11)

while True:
  if (left.is_active == True) and (right.is_active == True):
    robot.forward()
  elif (left.is_active == False) and (right.is_active == True):
    robot.right()
  elif (left.is_active == True) and (right.is_active == False):
    robot.left()
  else:
    robot.stop()

#!/usr/bin/env python3
# NeoPixel library strandtest example
# Author: Tony DiCola (tony@tonydicola.com)
#
# Direct port of the Arduino NeoPixel library strandtest example.  Showcases
# various animations on a strip of NeoPixels.
# Code source (Matt-Timmons Brown): https://github.com/the-raspberry-pi-guy/raspirobots
# Minor edits by Matt Timmons-Brown for "Learn Robotics with Raspberry Pi"

import time
from rpi_ws281x import *
import argparse

# LED strip configuration:
LED_COUNT      = 8      # Number of LED pixels.
#LED_PIN       = 18      # GPIO pin connected to the pixels (18 uses PWM!).
LED_PIN        = 10      # GPIO pin connected to the pixels (10 uses SPI /dev/spidev0.0).
LED_FREQ_HZ    = 800000  # LED signal frequency in hertz (usually 800khz)
LED_DMA        = 10      # DMA channel to use for generating signal (try 10)
LED_BRIGHTNESS = 255     # Set to 0 for darkest and 255 for brightest
LED_INVERT     = False   # True to invert the signal (when using NPN transistor level shift)
LED_CHANNEL    = 0       # set to '1' for GPIOs 13, 19, 41, 45 or 53
LED_STRIP      = ws.WS2811_STRIP_GRB # Strip type and color ordering

# Define functions which animate LEDs in various ways.
def colorWipe(strip, color, wait_ms=50):
    """Wipe color across display a pixel at a time."""
    for i in range(strip.numPixels()):
        strip.setPixelColor(i, color)
        strip.show()
        time.sleep(wait_ms/1000.0)

def theaterChase(strip, color, wait_ms=50, iterations=10):
    """Movie theater light style chaser animation."""
    for j in range(iterations):
        for q in range(3):
            for i in range(0, strip.numPixels(), 3):
                strip.setPixelColor(i+q, color)
            strip.show()
            time.sleep(wait_ms/1000.0)
            for i in range(0, strip.numPixels(), 3):
                strip.setPixelColor(i+q, 0)

def wheel(pos):
    """Generate rainbow colors across 0-255 positions."""
    if pos < 85:
        return Color(pos * 3, 255 - pos * 3, 0)
    elif pos < 170:
        pos -= 85
        return Color(255 - pos * 3, 0, pos * 3)
    else:
        pos -= 170
        return Color(0, pos * 3, 255 - pos * 3)

def rainbow(strip, wait_ms=20, iterations=1):
    """Draw rainbow that fades across all pixels at once."""
    for j in range(256*iterations):
        for i in range(strip.numPixels()):
            strip.setPixelColor(i, wheel((i+j) & 255))
        strip.show()
        time.sleep(wait_ms/1000.0)

def rainbowCycle(strip, wait_ms=20, iterations=5):
    """Draw rainbow that uniformly distributes itself across all pixels."""
    for j in range(256*iterations):
        for i in range(strip.numPixels()):
            strip.setPixelColor(i, wheel((int(i * 256 / strip.numPixels()) + j) & 255))
        strip.show()
        time.sleep(wait_ms/1000.0)

def theaterChaseRainbow(strip, wait_ms=50):
    """Rainbow movie theater light style chaser animation."""
    for j in range(256):
        for q in range(3):
            for i in range(0, strip.numPixels(), 3):
                strip.setPixelColor(i+q, wheel((i+j) % 255))
            strip.show()
            time.sleep(wait_ms/1000.0)
            for i in range(0, strip.numPixels(), 3):
                strip.setPixelColor(i+q, 0)

# Main program logic follows:
if __name__ == '__main__':
    # Process arguments
    parser = argparse.ArgumentParser()
    parser.add_argument('-c', '--clear', action='store_true', help='clear the display on exit')
    args = parser.parse_args()

    # Create NeoPixel object with appropriate configuration.
    strip = Adafruit_NeoPixel(LED_COUNT, LED_PIN, LED_FREQ_HZ, LED_DMA, LED_INVERT, LED_BRIGHTNESS, LED_CHANNEL)
    # Intialize the library (must be called once before other functions).
    strip.begin()

    print ('Press Ctrl-C to quit.')
    if not args.clear:
        print('Use "-c" argument to clear LEDs on exit')

    try:

        while True:
            print ('Color wipe animations.')
            colorWipe(strip, Color(255, 0, 0))  # Red wipe
            colorWipe(strip, Color(0, 255, 0))  # Blue wipe
            colorWipe(strip, Color(0, 0, 255))  # Green wipe
            print ('Theater chase animations.')
            theaterChase(strip, Color(127, 127, 127))  # White theater chase
            theaterChase(strip, Color(127,   0,   0))  # Red theater chase
            theaterChase(strip, Color(  0,   0, 127))  # Blue theater chase
            print ('Rainbow animations.')
            rainbow(strip)
            rainbowCycle(strip)
            theaterChaseRainbow(strip)

    except KeyboardInterrupt:
        if args.clear:
            colorWipe(strip, Color(0,0,0), 10)

import gpiozero
import cwiid
import time
from rpi_ws281x import *

# Author: Matt Timmons-Brown for "Learn Robotics with Raspberry Pi"
# Description: Enables control of the LED with the Wii Remote
# Minor modifications made by Addison Sears-Collins

robot = gpiozero.Robot(left=(22,27), right=(17,18))

print("Press and hold the 1+2 buttons on your Wiimote simultaneously")
wii = cwiid.Wiimote()
print("Connection established")
wii.rpt_mode = cwiid.RPT_BTN | cwiid.RPT_ACC

LED_COUNT      = 8
LED_PIN        = 10
LED_FREQ_HZ    = 800000
LED_DMA        = 10
LED_BRIGHTNESS = 150
LED_INVERT     = False
LED_CHANNEL    = 0
LED_STRIP      = ws.WS2811_STRIP_GRB

strip = Adafruit_NeoPixel(LED_COUNT, LED_PIN, LED_FREQ_HZ, LED_DMA, LED_INVERT, LED_BRIGHTNESS, LED_CHANNEL, LED_STRIP)
strip.begin()

def colorWipe(strip, color, wait_ms=50):
	"""Wipe color across display a pixel at a time."""
	for i in range(strip.numPixels()):
		strip.setPixelColor(i, color)
		strip.show()
		time.sleep(wait_ms/1000.0)

while True:
	buttons = wii.state["buttons"]
	if (buttons & cwiid.BTN_PLUS):
		colorWipe(strip, Color(255, 0, 0))  # Red wipe
	if (buttons & cwiid.BTN_HOME):
        colorWipe(strip, Color(0, 255, 0))  # Blue wipe
	if (buttons & cwiid.BTN_MINUS):
        colorWipe(strip, Color(0, 0, 255))  # Green wipe
	if (buttons & cwiid.BTN_B):
		colorWipe(strip, Color(0, 0, 0)) # Blank

	x = (wii.state["acc"][cwiid.X] - 95) - 25
	y = (wii.state["acc"][cwiid.Y] - 95) - 25

	if x < -25:
		x = -25
	if y < -25:
		y = -25
	if x > 25:
		x = 25
	if y > 25:
		y = 25

	forward_value = (float(x)/50)*2
	turn_value = (float(y)/50)*2

	if (turn_value < 0.3) and (turn_value > -0.3):
		robot.value = (forward_value, forward_value)
	else:
		robot.value = (-turn_value, turn_value)