echo "Distance to front object:" . findObject($distance);
if (!$carIsRunning) {
$temp_command = 'w';
if ($command != $temp_command) {
$command = $temp_command;
runCar($motors, $command);
$carIsRunning = true;
}
}
} else {
if ($distance <= $frenoDistance && ($distance != 0 || $carBackwards)) {
if ($carIsRunning) {
$temp_command = 's';
if ($command != $temp_command) {
$command = $temp_command;
stopCar($distance, $motors, $command);
$carIsRunning = false;
}
echo "car stopped";
}
if ($distance_LEFT >= $distance_RIGHT && $distance_LEFT >= $frenoDistance) {
$carBackwards = false;
$temp_command = 'a';
if ($command != $temp_command) {
$command = $temp_command;
turnLEFT($motors, $command);
}
echo "car turns left";
} else {
if ($distance_LEFT < $distance_RIGHT && $distance_RIGHT >= $frenoDistance) {
$carBackwards = false;
$temp_command = 's';
$command = $temp_command;
brakeCar($motors, $command);
$carIsRunning = false;
$carBackwards = true;
}
}
}
}
//else if
if ($distance == 0) {
if (!$carIsRunning) {
$temp_command = 'w';
if ($command != $temp_command) {
$command = $temp_command;
runCar($motors, $command);
}
}
noObject();
}
usleep(100);
// greenify
}
// while
stopCar($motors, 'q');
sleep(1);
fclose($sensors);
fclose($motors);
echo "\nCommunation over usb is now closed.";
}
// motors
