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import smbus

import time

from subprocess import call

# for RPI version 1, use "bus = smbus.SMBus(0)"

bus = smbus.SMBus(1)

# This is the address we setup in the Arduino Program

address = 0x04

def writeNumber(value):

bus.write_byte(address, value)

# bus.write_byte_data(address, 0, value)

return -1

def readNumber():

number = bus.read_byte(address)

# number = bus.read_byte_data(address, 1)

return number

def sound(spk):

cmd_beg="espeak --stdout '"

cmd_end="' | aplay"

print cmd_beg+spk+cmd_end

call ([cmd_beg+spk+cmd_end], shell=True)

time.sleep(1)

i=0

while True:

try:

a=raw_input()

print ord(a)

writeNumber(ord(a))

if a=='w':

sound("Forward")

elif a=='a':

sound("Left")

elif a=='d':

sound("Right")

elif a=='s':

sound("Reverse")

elif a=='x':

sound("Stop")

except IOError:

print "Error"