lock_pigpio.py

import RPi.GPIO as GPIO
import time
import pigpio
pi = pigpio.pi() # Connect to local Pi.

pin_IR = 16
pin_servo_open = 20
pin_servo_lock = 21
pin_switch = 26

GPIO.setmode(GPIO.BCM)
GPIO.setup(pin_IR,GPIO.IN)
GPIO.setwarnings(False)
GPIO.setup(pin_switch, GPIO.IN, pull_up_down=GPIO.PUD_UP) 

IR_cnt = 0
switch_cnt = 0
lock_switch = 0

#open_init
#servo
pi.set_servo_pulsewidth(pin_servo_open, 800)
pi.set_servo_pulsewidth(pin_servo_lock, 800)
time.sleep(1)

try:
    while True:

        #lock
        if lock_switch == 0:
            #IR detected
            if GPIO.input(pin_IR) == 1:
                IR_cnt += 1
            
            #servo
            if IR_cnt >= 10:
                print("lock", IR_cnt)

                pi.set_servo_pulsewidth(pin_servo_lock, 1800)
                pi.set_servo_pulsewidth(pin_servo_open, 800)
                time.sleep(1)

                lock_switch = 1
                IR_cnt = 0

        #open
        #print(switch_cnt)
        elif lock_switch == 1:
            if GPIO.input(pin_switch) == 1:
                switch_cnt += 1
            #servo
            if switch_cnt >= 5:
                print("open", switch_cnt)

                pi.set_servo_pulsewidth(pin_servo_lock, 800)
                time.sleep(0.5)

                pi.set_servo_pulsewidth(pin_servo_open, 1800)
                time.sleep(0.5)

                pi.set_servo_pulsewidth(pin_servo_open, 800)
                time.sleep(0.5)

                lock_switch = 0
                switch_cnt = 0

        #pedometer
        time.sleep(0.1)
        print(IR_cnt, switch_cnt, lock_switch)

except KeyboardInterrupt:
    # switch servo off
    pi.set_servo_pulsewidth(pin_servo_lock, 0)
    pi.set_servo_pulsewidth(pin_servo_open, 0)
    pi.stop()

GPIO.cleanup