from PARAM import *
from  motorm import turn
import cv2
import RPi.GPIO as GPIO

def UturnBK(cap,pin1,pin2):
    turn(0.4,-0.4,0.4); turn(0,0,0.01);
    for i in range(100):
        turn(0.4,-0.4,0.05); turn(0,0,0.01);
        ret,fra = cap.read();
        VP1=GPIO.input(pin1)
        VP2=GPIO.input(pin2)
        if(VP1==0 and VP2==0): DR=1
        if(VP1==0 and VP2==1): DR=7
        if(VP1==1 and VP2==0): DR=3
        if(VP1==1 and VP2==1): DR=9
        print('UturnBK,i=',i,DR)
        cv2.imshow('fra',fra)
        if cv2.waitKey(1) & 0xFF == ord('q'): break
        if(DR==7): turn(0.4,-0.4,0.1); break
    DRS=[1 for i in range(NBKTM)]
    DRS=[]
    return DRS