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import RPi.GPIO as GPIO
import time
import speech_recognition as sr

GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)

IN1 = 5
IN2 = 6
IN3 = 23
IN4 = 24
ENA = 12
ENB = 13

TRIG_FRONT = 18
ECHO_FRONT = 27

LINE_SENSOR = 17

GPIO.setup([IN1, IN2, IN3, IN4, ENA, ENB], GPIO.OUT)
GPIO.setup(TRIG_FRONT, GPIO.OUT)
GPIO.setup(ECHO_FRONT, GPIO.IN)
GPIO.setup(LINE_SENSOR, GPIO.IN)

pwm_left = GPIO.PWM(ENA, 100)
pwm_right = GPIO.PWM(ENB, 100)
pwm_left.start(0)
pwm_right.start(0)

def stop():
    GPIO.output([IN1, IN2, IN3, IN4], GPIO.LOW)
    pwm_left.ChangeDutyCycle(0)
    pwm_right.ChangeDutyCycle(0)

def forward(speed=50):
    GPIO.output(IN1, GPIO.HIGH)
    GPIO.output(IN2, GPIO.LOW)
    GPIO.output(IN3, GPIO.HIGH)
    GPIO.output(IN4, GPIO.LOW)
    pwm_left.ChangeDutyCycle(speed)
    pwm_right.ChangeDutyCycle(speed)

def backward(speed=50):
    GPIO.output(IN1, GPIO.LOW)
    GPIO.output(IN2, GPIO.HIGH)
    GPIO.output(IN3, GPIO.LOW)
    GPIO.output(IN4, GPIO.HIGH)
    pwm_left.ChangeDutyCycle(speed)
    pwm_right.ChangeDutyCycle(speed)

def turn_left(speed=50):
    GPIO.output(IN1, GPIO.LOW)
    GPIO.output(IN2, GPIO.HIGH)
    GPIO.output(IN3, GPIO.HIGH)
    GPIO.output(IN4, GPIO.LOW)
    pwm_left.ChangeDutyCycle(speed / 2)
    pwm_right.ChangeDutyCycle(speed)

def turn_right(speed=50):
    GPIO.output(IN1, GPIO.HIGH)
    GPIO.output(IN2, GPIO.LOW)
    GPIO.output(IN3, GPIO.LOW)
    GPIO.output(IN4, GPIO.HIGH)
    pwm_left.ChangeDutyCycle(speed)
    pwm_right.ChangeDutyCycle(speed / 2)

def get_distance(trig, echo):
    GPIO.output(trig, GPIO.LOW)
    time.sleep(0.02)
    GPIO.output(trig, GPIO.HIGH)
    time.sleep(0.00001)
    GPIO.output(trig, GPIO.LOW)

    timeout = time.time() + 0.02
    while GPIO.input(echo) == 0 and time.time() < timeout:
        start_time = time.time()

    timeout = time.time() + 0.02
    while GPIO.input(echo) == 1 and time.time() < timeout:
        stop_time = time.time()

    elapsed = stop_time - start_time
    distance = (elapsed * 34300) / 2
    if distance > 400 or distance <= 2:
        return None
    return distance

def follow_line():
    if GPIO.input(LINE_SENSOR) == 1:
        forward(50)
    else:
        turn_left(30)

def listen_for_command():
    recognizer = sr.Recognizer()
    mic = sr.Microphone()
    try:
        with mic as source:
            recognizer.adjust_for_ambient_noise(source)
            audio = recognizer.listen(source)
            command = recognizer.recognize_google(audio, language="en-US").lower()
            return command
    except sr.UnknownValueError:
        return None
    except sr.RequestError:
        return None

def main():
    try:
        while True:
            distance = get_distance(TRIG_FRONT, ECHO_FRONT)
            if distance and distance < 20:
                stop()
                turn_right(50)
                time.sleep(0.5)
                forward(50)
            else:
                follow_line()

            command = listen_for_command()
            if command:
                if "stop" in command:
                    stop()
                elif "start" in command:
                    forward(50)
                elif "left" in command:
                    turn_left(50)
                elif "right" in command:
                    turn_right(50)

    except KeyboardInterrupt:
        GPIO.cleanup()

if __name__ == "__main__":
    main()