def scan():
scan_list = []
dis = 0.0
for i in range(10, 100, 5):
servo.setServo(i)
time.sleep(0.5)
dis = us.getDistance()
while dis > 1000 or dis < 5:
print 'dis =', dis
dis = us.getDistance()
scan_list.append(dis)
servo.servoMiddle()
return scan_list
def find_obstacle():
print 'Finding Obstacles...'
dis = 0.0
for i in range(30, 80, 10):
servo.setServo(i)
time.sleep(0.5)
dis = us.getDistance()
while dis > 500 or dis < 5:
dis = us.getDistance()
if dis < critical_distance:
servo.servoMiddle()
print 'Obstacle Found !'
return True
servo.servoMiddle()
print 'No Obstacles !'
return False
def scan():
scanList = []
for i in range(10, 110, 10):
print 'i =', i
servo.setServo(i)
time.sleep(1)
scanList.append(us.getDistance())
servo.servoMiddle()
return scanList
elif keyp == '5':
print '================================================'
print 'DISTANCE =>', DISTANCE, 'cm'
print 'ANGLE =>', ANGLE, 'deg'
print 'CAR_SPEED_FORWARD =>', CAR_SPEED_FORWARD, 'cm/s'
print 'DELAY_360_RIGHT =>', DELAY_360_RIGHT, 's'
print 'DELAY_360_LEFT =>', DELAY_360_LEFT, 's'
print '================================================'
elif keyp == '0':
scanList = []
dis = 0.0
for i in range(10, 100, 10):
servo.setServo(i)
time.sleep(0.5)
dis = us.getDistance()
while dis > 1000 or dis < 5:
dis = us.getDistance()
scanList.append(dis)
servo.servoMiddle()
print ' === '.join(map(str, scanList))
elif keyp == 'x':
break
cleanup()
except KeyboardInterrupt:
cleanup()
car.spinModulationWarmUp(90, 20,DELAY_360_RIGHT, DELAY_360_LEFT)
is_turning = 1
bool_turn = False
else:
print 'Turning Left ...'
car.spinModulationWarmUp(-90, 20,DELAY_360_RIGHT, DELAY_360_LEFT)
is_turning = -1
bool_turn = True
print 'bool turn = ', bool_turn
if is_turning == 1:
servo.servoLeft()
time.sleep(1)
#search for hawta
car.advanceDistanceWarmUp(25, CAR_SPEED_FORWARD)
while us.getDistance() < critical_distance:
servo.servoMiddle()
time.sleep(1)
if us.getDistance() < critical_distance: # obstacle in front while searching for hawta
car.spinModulationWarmUp(180, 20,DELAY_360_RIGHT, DELAY_360_LEFT)
is_turning = -1
else:
car.advanceDistanceWarmUp(25, CAR_SPEED_FORWARD)
if is_turning == 1:
car.spinModulationWarmUp(-90, 20,DELAY_360_RIGHT, DELAY_360_LEFT)
is_turning = 0
if is_turning == -1:
servo.servoRight()
time.sleep(1)
#search for hawta
car.Rforward()
print 'Rforward'
elif keyp == '1':
car.Lreverse()
print 'Lreverse'
elif keyp == '3':
car.Rreverse()
print 'Rreverse'
elif keyp == ' ':
car.stop()
print 'Stop'
# UltraSound Sensor
elif keyp == 't':
print 'distance =', us.getDistance(), "cm"
# Servo Motor
elif keyp == 'i':
position = 50
servo.setServo(position)
print 'Servo set to Middle Position'
elif keyp == 'o':
position = 0
servo.setServo(position)
print 'Servo set to Left Position'
elif keyp == 'p':
position = 100
servo.setServo(position)
print 'Servo set to Right Position'
car.Rforward()
print 'Rforward'
elif data == '1':
car.Lreverse()
print 'Lreverse'
elif data == '3':
car.Rreverse()
print 'Rreverse'
elif data == 'stop':
car.stop()
print 'Stop'
# UltraSound Sensor
elif data == 'distance':
print 'distance =', us.getDistance(), "cm"
# Servo Motor
elif data == 'servoMid':
position = 50
servo.setServo(position)
print 'Servo set to Middle Position'
elif data == 'o':
position = 0
servo.setServo(position)
print 'Servo set to Left Position'
elif data == 'p':
position = 100
servo.setServo(position)
print 'Servo set to Right Position'