def avoid(direction):
'''장애물 회피 comment 입력 필요'''
#dummy code
stop()
sleep(1)
#return 0
#sample code, 아마 도착시 대각선으로 닿아 있는 편이 좋을 듯
stop()
sleep(0.1)
#회전
car.engine(True, False, 30, 30)
while ultraModule.getDistance() < 25:
pass
stop()
sleep(0.1)
car.engine(True, True, 30, 30)
sleep(0.6)
stop()
sleep(0.1)
#전진
car.engine(True, True, 20, 40)
#sleep(1)
while not trackingModule.bit2():
pass
stop()
sleep(0.3)
car.engine(True, True, 30, 30)
def avoid(direction):
'''장애물 회피 comment 입력 필요'''
#dummy code
stop()
sleep(1)
#return 0
#sample code, 아마 도착시 대각선으로 닿아 있는 편이 좋을 듯
if direction == 'l':
stop()
sleep(0.1)
#회전
car.engine(True, False, 0, 30)
sleep(1)
car.engine(False, False, 10, 50) #휘어서 후진? 그냥 후진?
while not trackingModule.bitCount() >= 3:
pass
stop()
sleep(1)
car.engine(False, False, 0, 30)
while ultraModule.getDistance() < 30:
pass
sleep(0.5) #쪼끔만 더 돌자
stop()
sleep(0.1)
#전진
car.engine(True, True, 20, 60)
#sleep(1)
while not trackingModule.bit16():
pass
stop()
sleep(1)
def go_forward_any(speed):
leftmotor(forward0)
GPIO.output(MotorLeft_PWM, GPIO.HIGH)
rightmotor(forward1)
GPIO.output(MotorRight_PWM, GPIO.HIGH)
# to avoid collision between go_forward_any method and turn method, insert a infinite loop
while 1:
distance = getDistance()
if distance < dis:
break
LeftPwm.ChangeDutyCycle(speed)
RightPwm.ChangeDutyCycle(speed)
def avoid(direction): '''장애물 회피 comment 입력 필요''' #dummy code stop() sleep(1) #return 0 #sample code, 아마 도착시 대각선으로 닿아 있는 편이 좋을 듯 stop() sleep(0.1) #회전 car.engine(True, False, 30, 30) while ultraModule.getDistance()<25: pass stop() sleep(0.1) car.engine(True, True, 30, 30) sleep(0.6) stop() sleep(0.1) #전진 car.engine(True, True, 20, 40) #sleep(1) while not trackingModule.bit8(): pass stop() sleep(0.3) count=0 car.engine(True, True, 25, 0) while not trackingModule.bit2(): count+=1 print(count) if count%1500==0: car.engine(True, True, 25, 0) elif count>60000: car.engine(True, True, 30, 30) pass stop() sleep(0.3) car.engine(True, True, 30, 30)
if __name__ == "__main__":
try:
Tmode = input("choose 'l or 'r'")
dis = 13 ###수정해도 됨
#차 시동을 건다.
car.startUp()
endline = True
if Tmode == 'l':
car.engine(True, True, 30, 35)
else:
car.engine(True, True, 35, 30)
sleep(0.1)
while endline:
distance = ultraModule.getDistance() ###초음파센서
if distance < dis:
print(distance)
avoid(Tmode)
else:
endline = lineTracking(Tmode)
#차 시동을 끈다.
car.turnOff()
#ctrl + c 키로 종료한 경우
except KeyboardInterrupt:
print("강제종료 하셨습니다.")
#오류로 인한 종료 시 시동끄기 함수 호출. 없다면 오류로 프로그램이 종료된 이후에도 바퀴가 돌 수 있다.
finally:
car.turnOff()
PPicar.engine(False, True, speed, speed)
def right_point_turn(speed):#left moter true, right motor false
PPicar.engine(True, False, speed, speed)
#need infinitive turn
#need print current status
if __name__ == "__main__":
dis=20
obs=1
PPicar.startUp()
while obs<3:
distance = ultraModule.getDistance()
if distance > dis
go_forward(25)
else:
PPicar.stop()
left_swing_turn()
obs+=1
PPicar.stop()
sleep(1)
PPicar.stop()
print('clear')
# define your variables and find out each value of variables
# to perform the project3 with ultra sensor
# and swing turn
# =======================================================================
dis = 20 # ??
obstacle = 1
# when obstacle=1, the power and
# running time of the first turn
SwingPr = 90 # student assignment (8)
SwingTr = 0.9 # student assignment (9)
try:
while True:
# ultra sensor replies the distance back
distance = getDistance()
print('distance= ', distance)
# when the distance is above the dis, moving object forwards
if (distance > dis):
go_forward_any(30)
print("now i'am going")
print('obstacle=', obstacle)
# when the distance is below the dis, moving object stops
else:
stop()
rightSwingTurn(53, 1) #go reverse 'r'shape
print("turn around")
# stop and wait 1 second
stop()
