#8.1. 라즈베리파이자동차+음성인식

import RPi.GPIO as GPIO

import time

import speech_recognition as sr

# GPIO 모드 설정

GPIO.setmode(GPIO.BCM)

# 모터 A와 B에 대한 핀 번호 설정

motorA_pin1 = 26

motorA_pin2 = 19

motorB_pin1 = 17

motorB_pin2 = 27

# 모터 핀을 출력으로 설정

GPIO.setup(motorA_pin1, GPIO.OUT)

GPIO.setup(motorA_pin2, GPIO.OUT)

GPIO.setup(motorB_pin1, GPIO.OUT)

GPIO.setup(motorB_pin2, GPIO.OUT)

# 모터 제어 함수 정의

def forward(seconds):

    # 모터 전진

    GPIO.output(motorA_pin1, GPIO.HIGH)

    GPIO.output(motorA_pin2, GPIO.LOW)

    GPIO.output(motorB_pin1, GPIO.HIGH)

    GPIO.output(motorB_pin2, GPIO.LOW)

    time.sleep(seconds)

    stop_motors()

def backward(seconds):

    # 모터 후진

    GPIO.output(motorA_pin1, GPIO.LOW)

    GPIO.output(motorA_pin2, GPIO.HIGH)

    GPIO.output(motorB_pin1, GPIO.LOW)

    GPIO.output(motorB_pin2, GPIO.HIGH)

    time.sleep(seconds)

    stop_motors()

def turn_right(seconds):

    # 오른쪽으로 회전 

    GPIO.output(motorA_pin1, GPIO.HIGH)

    GPIO.output(motorA_pin2, GPIO.LOW)

    GPIO.output(motorB_pin1, GPIO.LOW)

    GPIO.output(motorB_pin2, GPIO.HIGH)

    time.sleep(seconds)

    stop_motors()

def turn_left(seconds):

    # 왼쪽으로 회전

    GPIO.output(motorA_pin1, GPIO.LOW)

    GPIO.output(motorA_pin2, GPIO.HIGH)

    GPIO.output(motorB_pin1, GPIO.HIGH)

    GPIO.output(motorB_pin2, GPIO.LOW)

    time.sleep(seconds)

    stop_motors()

def stop_motors():

    # 모터 정지

    GPIO.output(motorA_pin1, GPIO.LOW)

    GPIO.output(motorA_pin2, GPIO.LOW)

    GPIO.output(motorB_pin1, GPIO.LOW)

    GPIO.output(motorB_pin2, GPIO.LOW)

# 음성 인식 함수 정의

def recognize_command():

    recognizer = sr.Recognizer()

    with sr.Microphone() as source:

        print("Listening...")

        audio = recognizer.listen(source)

    try:

        return recognizer.recognize_google(audio, language="ko-KR")

    except sr.UnknownValueError:

        return "Could not understand audio"

    except sr.RequestError as e:

        return f"API unavailable {e}"

# 메인 루프

try:

    while True:

        command = recognize_command().lower()

        if "앞으로" in command:

            forward(1)

            print("Moving Forward")

        elif "뒤로" in command:

            backward(1)

            print("Moving Backward")

        elif "우회전" in command:

            turn_right(1)

            print("Turning Right")

        elif "좌회전" in command:

            turn_left(1)

            print("Turning Left")

finally:

    GPIO.cleanup()