def state():
button.check()
if button.active():
return button.state()
global last_state
if GPIO:
current_distance = ultrasonic.distance()
# the sensor can only measure up to 4 meters, so we skip too big values
if not current_distance or current_distance > 450:
return last_state
distances.append(current_distance)
l = sorted(list(distances))
index = int(len(l) / 2)
distance = l[index]
state_str = "P" if last_state else "L"
logger.info("distance: (%d/%d/%d) %s % 4.1f % 4.1f", MIN_DISTANCE, MAX_DISTANCE, WINDOW_SIZE, state_str, distance, current_distance)
if last_state == INCOMING and distance > MAX_DISTANCE:
last_state = OUTGOING
return OUTGOING
if last_state == OUTGOING and distance < MIN_DISTANCE:
last_state = INCOMING
return INCOMING
return last_state
else:
# TODO: make a button
try:
with open("/tmp/trigger", 'r') as f:
contents = f.read()
return "incoming" in contents
except:
return False
def checkHuman():
dis = ultrasonic.distance(US_TRIG1, US_ECHO1)
print(dis)
if dis < 10:
return True
elif dis > 10:
return False
def AutoLand():
#ultrasonic.distance() returns distance in cm. 11cm is height from ground. 12 should be good then to drop
LandPID = PID(-0.5, 0.1, 0.05, setpoint=12)
LandPID.sample_time = 0.01
pid.output_limits = (300, 325) # output value will be between 0 and 10
#Current distance away
distance = ultrasonic.distance()
while distance > 12:
control = LandPID(distance)
#Change throttle - control needs to be between 240-420
talktopi(ZERO_VALUE, ZERO_VALUE, control, ZERO_VALUE)
#update distance
distance = ultrasonic.distance()
#Turn off motors
talktopi(ZERO_VALUE, ZERO_VALUE, MIN_VALUE, ZERO_VALUE)
time.sleep(1)
def main():
while True:
dist = ultrasonic.distance()
print("Measured Distance = %.1f cm" % dist)
#time.sleep(1)
driveFORWARD()
if (dist < 50):
applyBRAKE()
def send_distance():
d = distance()
# ignore random big readings
if d < 2000:
wall = d < 50
print("w: %s forward?: %s" % (wall, driver.trav_fwd))
server.send_message_to_all("distance:%f" % d)
if wall and driver.trav_fwd == True:
print("Should stop!")
driver.reverse()
sleep(0.5)
driver.stop()
def check_percent_garbage(typeGb, height, trig, echo):
while True:
dis = ultrasonic.distance(trig, echo)
percent = 100 - (dis / height) * 100
print("percent", percent)
# return 100-(dis/heightAtEmpty)*100
# print('checkpercent')
try:
firebase.updateTrashPercent(typeGb, percent)
except:
print('error posting firebase')
time.sleep(3)
def forward_avoid_obstacle():
dist = distance()
print("Measured Distance = {:.2f} cm".format(dist))
if (dist < 25):
backward()
time.sleep(0.2)
p1.ChangeDutyCycle(41) #50
p2.ChangeDutyCycle(48) #57
turnLeft()
time.sleep(0.2)
return
else:
p1.ChangeDutyCycle(31) #41
p2.ChangeDutyCycle(35) #48
forward()
time.sleep(0.08)
def forward_avoid_obstacle():
'''前进并避障函数
遇到障碍物时先后退再左转'''
dist = distance()
print("Measured Distance = {:.2f} cm".format(dist))
if(dist < 25 ):
backward()
#延时0.2s
time.sleep(0.2)
#改变占空比百分值
p1.ChangeDutyCycle(41)#50
p2.ChangeDutyCycle(48)#57
turnLeft()
time.sleep(0.2)
return
else:
p1.ChangeDutyCycle(31)#41
p2.ChangeDutyCycle(35)#48
forward()
time.sleep(0.08)
def get_ultrasonic_sensor_status():
return ultrasonic.distance()
#import movement
import ultrasonic
#import time
import random
import controller
import speakers
#start = time.time()
#speakers.play_file("~/RaspTank/warning.mp3")
while True:
controller.open_hand()
while ultrasonic.distance() > 0.4:
#print(ultrasonic.distance())
controller.move_forward(0.01)
speakers.play_file("./warning.mp3")
#left = bool(random.getrandbits(1))
left = bool(random.getrandbits(1))
controller.close_hand()
if (left):
while ultrasonic.distance() <= 0.7:
controller.turn_left(130)
else:
while ultrasonic.distance() <= 0.7:
controller.turn_right(130)
#controller.turn_right(130)
#controller.turn_right(90)
#
def new_client(client, server):
print("New client connected, id: %d" % client['id'])
server.send_message_to_all("Hey all, a new client has joined")
server.send_message_to_all("distance:%f" % distance())