TRIG = "D13"
ECHO = "D12"
ultrasonic_sensor = ultrasonic.HCSR04(TRIG, ECHO)
while True:
dist = ultrasonic_sensor.distance_mm()
if dist >= 60:
print('if')
#motor_left.ctrl_alloc(1, 70)
#motor_right.ctrl_alloc(1, 70)
motor_left.set_forwards()
motor_right.set_forwards()
motor_left.duty(90)
motor_right.duty(90)
sleep(0.1)
motor_left.duty(20)
motor_right.duty(20)
elif dist <= 60:
print('elif')
#motor_left.ctrl_alloc(0, 70)
#motor_right.ctrl_alloc(0, 70)
motor_left.set_backwards()
motor_right.set_backwards()
motor_left.duty(90)
i2c = SoftI2C(scl=Pin("PB13"), sda=Pin("PB14"))
apds9960=APDS9960LITE(i2c)
speed = 70
while True:
IR_readingL = IR_sensorL.value()
IR_readingML = IR_sensorML.value()
IR_readingMR = IR_sensorMR.value()
IR_readingR = IR_sensorR.value()
dist = ultrasonic_sensor.distance_mm()
motorL.set_forwards()
motorR.set_forwards()
motorR.duty(speed)
motorL.duty(speed)
#print(IR_readingL, IR_readingML, IR_readingMR, IR_readingR)
if IR_readingML == 1 and IR_readingMR == 1 and IR_readingL == 0 and IR_readingR == 0:
motorR.duty(speed)
motorL.duty(speed)
elif IR_readingML == 1 and IR_readingMR == 1 and IR_readingL == 1 and IR_readingR == 0:
motorR.duty(speed*1.25)
t.sleep(1)
elif IR_readingML == 1 and IR_readingMR == 1 and IR_readingL == 0 and IR_readingR == 1:
motorL.duty(speed*1.25)
t.sleep(1)
#pwm/encoder
# pwm = 65
