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.. _py_keyboard:

Keyboard Control
=======================

In this project, we will learn how to use the keyboard to remotely control the PiCrawler. You can control the PiCrawler to move forward, backward, left, and right.


**Run the Code**

.. raw:: html

    <run></run>

.. code-block::

    cd ~/picrawler/examples
    sudo python3 keyboard_control.py

Press keys on keyboard to control PiCrawler!

* ``w``: Forward
* ``a``: Turn left
* ``s``: Backward
* ``d``: Turn right
* ``Ctrl+C``: Quit


**Code**

.. code-block:: python

    from picrawler import Picrawler
    from time import sleep
    import readchar

    crawler = Picrawler() 
    speed = 90

    manual = '''
    Press keys on keyboard to control PiCrawler!
        W: Forward
        A: Turn left
        S: Backward
        D: Turn right

        Ctrl^C: Quit
    '''

    def show_info():
        print("\033[H\033[J",end='')  # clear terminal windows 
        print(manual)


    def main(): 
        show_info()   
        while True:
            key = readchar.readkey()
            key = key.lower()
            if key in('wsad'):
                if 'w' == key:
                    crawler.do_action('forward',1,speed)     
                elif 's' == key:
                    crawler.do_action('backward',1,speed)          
                elif 'a' == key:
                    crawler.do_action('turn left',1,speed)           
                elif 'd' == key:
                    crawler.do_action('turn right',1,speed)
                sleep(0.05)
                show_info()  
            elif key == readchar.key.CTRL_C:
                print("\n Quit") 
                break    

            sleep(0.02)          

    
    if __name__ == "__main__":
        main()

**How it works?**

PiCrawler should take appropriate action based on the keyboard characters read. The ``lower()`` function converts upper case characters into lower case characters, so that the letter remains valid regardless of case.

.. code-block:: python

    def main(): 
        show_info()   
        while True:
            key = readchar.readkey()
            key = key.lower()
            if key in('wsad'):
                if 'w' == key:
                    crawler.do_action('forward',1,speed)     
                elif 's' == key:
                    crawler.do_action('backward',1,speed)          
                elif 'a' == key:
                    crawler.do_action('turn left',1,speed)           
                elif 'd' == key:
                    crawler.do_action('turn right',1,speed)
                sleep(0.05)
                show_info()  
            elif key == readchar.key.CTRL_C:
                print("\n Quit") 
                break    
            
            sleep(0.02)