def servo_distance_check():
servo_appointed_direction(0)
time.sleep(0.8)
rightdistance = avoid_ultrasonic.Distance_test()
servo_appointed_direction(180)
time.sleep(0.8)
leftdistance = avoid_ultrasonic.Distance_test()
servo_appointed_direction(90)
time.sleep(0.8)
frontdistance = avoid_ultrasonic.Distance_test()
global car_angle
if leftdistance < 30 and rightdistance < 30 and frontdistance < 30:
CarRun.spin_right(0.65, 35)
CarRun.brake(0)
car_angle -= 180
servo_appointed_direction(180)
elif leftdistance >= rightdistance:
CarRun.spin_left(0.4, 50)
CarRun.brake(0)
car_angle += 90
servo_appointed_direction(0)
elif leftdistance <= rightdistance:
CarRun.spin_right(0.4, 100)
time.sleep(5)
CarRun.brake(0)
car_angle -= 90
servo_appointed_direction(180)
time.sleep(0.8)
def servo_color_carstate():
servo_appointed_detection(0)
time.sleep(0.8)
rightdistance = avoid_ultrasonic.Distance_test()
servo_appointed_detection(180)
time.sleep(0.8)
leftdistance = avoid_ultrasonic.Distance_test()
servo_appointed_detection(90)
time.sleep(0.8)
frontdistance = avoid_ultrasonic.Distance_test()
if leftdistance < 30 and rightdistance < 30 and frontdistance < 30:
CarRun.spin_right(0.58, 35)
elif leftdistance >= rightdistance:
CarRun.spin_left(0.28, 35)
elif leftdistance <= rightdistance:
CarRun.spin_right(0.28, 35)
def look_for_opening(power):
global car_angle
distance = avoid_ultrasonic.Distance_test()
while distance < 40:
travelling_infra_avoid(power)
distance = avoid_ultrasonic.Distance_test()
CarRun.run(0.5, 30)
CarRun.brake(0)
if car_angle < 0:
CarRun.spin_left(0.5, 50)
car_angle += 90
else:
CarRun.spin_right(0.5, 50)
car_angle -= 90
CarRun.brake(0)
servo_appointed_direction(90)
time.sleep(0.8)
if leftdistance < 30 and rightdistance < 30 and frontdistance < 30:
CarRun.spin_right(0.58, 35)
elif leftdistance >= rightdistance:
CarRun.spin_left(0.28, 35)
elif leftdistance <= rightdistance:
CarRun.spin_right(0.28, 35)
#delay 2s
time.sleep(2)
#The try/except statement is used to detect errors in the try block.
#the except statement catches the exception information and processes it.
try:
init()
while True:
distance = avoid_ultrasonic.Distance_test()
if distance > 60:
infrared_avoid.infr_avoid(50)
elif 30 <= distance <= 60:
infrared_avoid.infr_avoid(20)
elif distance < 30:
CarRun.brake(0)
servo_color_carstate()
except KeyboardInterrupt:
pass
pwm_ENA.stop()
pwm_ENB.stop()
GPIO.cleanup()