def evasion():
right_turn_speed = 50
right_turn_time = 0.4
left_turn_speed = 20
left_turn_time = 0.4
go_speed = 5
go_time = 1
try:
go_turn_stop.rightSwingTurn(right_turn_speed, right_turn_time)
time.sleep(1)
go_turn_stop.go_forward(go_speed, go_time)
go_turn_stop.leftSwingTurn(left_turn_speed, left_turn_time)
while recog_line.get_01()[4] != 0:
go_turn_stop.go_forward_any(go_speed)
while recog_line.get_01()[2] != 0:
go_turn_stop.leftSwingTurn(left_turn_speed, left_turn_time)
except:
pass
def evasion():
# Swing Turn 's angle
right_turn_speed = 50
right_turn_time = 0.4
# Point Turn 's angle
left_turn_speed = 30
left_turn_time = 0.4
# The speed that the executor wants
speed = 43
go_time = 1.5
try:
go_turn_stop.rightSwingTurn(right_turn_speed, right_turn_time)
time.sleep(1)
go_turn_stop.go_forward(speed, go_time)
go_turn_stop.leftSwingTurn(left_turn_speed, left_turn_time)
time.sleep(1)
WB = recog_line.get_01()
while recog_line.numberOfCases(WB) != 'inLine':
go_turn_stop.go_forward_any(speed)
else:
time.sleep(1)
break
except:
pass
def evasion():
right_turn_speed = 50
short_time = 0.1
left_turn_speed = 20
long_time = 0.4
go_speed = 5
go_time = 1
dis = 20
try:
get_distance = recog_obs.get_Distance()
while get_distance > dis:
go_turn_stop.rightSwingTurn(right_turn_speed, short_time)
break
go_turn_stop.go_forward(go_speed, go_time)
go_turn_stop.leftSwingTurn(left_turn_speed, long_time)
while recog_line.get_01()[4] != 0:
go_turn_stop.go_forward_any(go_speed)
while recog_line.get_01()[2] != 0:
go_turn_stop.leftSwingTurn(left_turn_speed, short_time)
break
except:
pass
def evasion():
# Swing Turn 's angle
right_turn_speed = 50
right_turn_time = 0.4
# Point Turn 's angle
left_turn_speed = 20
left_turn_time = 0.4
# The speed that the executor wants
speed_high = 43
speed_low = 1.5
try:
go_turn_stop.rightSwingTurn(right_turn_speed, right_turn_time)
time.sleep(1)
while recog_line.get_01() == [0, 0, 0, 0, 0]:
go_turn_stop.rightRoundTurn(speed_high, speed_low)
go_turn_stop.leftSwingTurn(left_turn_speed, left_turn_time)
# go_turn_stop.go_forward(speed,go_time)
#
# go_turn_stop.leftSwingTurn(left_turn_speed, left_turn_time)
# time.sleep(1)
#
# WB = recog_line.get_01()
#
# while [ True for x in WB if x==0]:
# break
#
# else :
# go_turn_stop.forward_any(speed, go_time)
# time.sleep(0.1)
except:
pass
if (get_distance > dis):
W_and_B = recog_line.get_01()
print(W_and_B)
if recog_line.numberOfCases(W_and_B) == 'inLine' :
go_turn_stop.go_forward(speed_go,time_go)
print("inLine")
elif recog_line.numberOfCases(W_and_B) == 'leftSide' :
while W_and_B[2] != 0 :
go_turn_stop.rightSwingTurn(speed_turn, time_turn)
break
elif recog_line.numberOfCases(W_and_B) == "final" :
go_turn_stop.stop()
print("stop")
break
else :
while W_and_B[2] != 0 :
go_turn_stop.leftSwingTurn(speed_turn, time_turn)
break
else :
evasion_obs.evasion()
except KeyboardInterrupt:
go_turn_stop.pwm_low()
GPIO.setwarnings(False)
go_turn_stop.pwm_setup()
dis = 17 #20
speed = 20
time = 0.5
try:
while True:
# ultra sensor replies the distance back
get_distance = recog_obs.get_Distacne()
print('distance= ', get_distance)
# when the distance is above the dis, moving object forwards
while (get_distance > dis):
W_and_B = recog_line.get_01()
if recog_line.numberOfCases(W_and_B) == 'inLine':
go_turn_stop.go_forward(speed, time)
elif recog_line.numberOfCases(W_and_B) == 'leftSide':
go_turn_stop.rightSwingTurn(speed, time)
else:
go_turn_stop.leftSwingTurn(speed, time)
else:
evasion_obs.evasion()
except KeyboardInterrupt:
go_turn_stop.pwm_low()