pwm_M1A.freq(500) pwm_M1B.freq(500) pwm_M2A.freq(500) pwm_M2B.freq(500) # Setting PWM value to 0 na on all steering pins - 0V pwm_M1A.duty_u16(0) pwm_M1B.duty_u16(0) pwm_M2A.duty_u16(0) pwm_M2B.duty_u16(0) # Creating sensor object (to use the HC-SR04 sensor) cinnected on specified pins sensor = hcsr04.HCSR04(trigger_pin=15, echo_pin=14, echo_timeout_us=1000000) # Defining 0/1 variable - controls if robot is in on or off state on = 0 # Defininig maximum pwm value constant, default is max_V: 26700 (1,5 V on motor), but why not to experiment? max_V = 35000 # Defining front obstacle safe distance value /we assume using cm/ safe_distance = 30.00000 # Defining movement functions
def main():
sensor1 = hcsr04.HCSR04(4, 19)
sensor2 = hcsr04.HCSR04(16, 26)
nokia = screen.Screen()
f = 255 * np.ones(12)
nokia.print_bars(f)
while (True):
dists = []
dist1 = sensor1.distance_cm()
now = datetime.now()
clock = str(now.hour) + ":" + str(now.minute) + ":" + str(now.second)
position = (20, 0)
nokia.write_text(clock, position)
if dist1 != -1:
dists.append(dist1)
if 150 < dist1:
f[0] = 255
f[3] = 255
f[6] = 255
f[9] = 255
nokia.print_bars(f)
if 75 < dist1 <= 150:
f[0] = 0
f[3] = 255
f[6] = 255
f[9] = 255
nokia.print_bars(f)
if 50 < dist1 <= 75:
f[0] = 0
f[3] = 0
f[6] = 255
f[9] = 255
nokia.print_bars(f)
if 25 < dist1 <= 50:
f[0] = 0
f[3] = 0
f[6] = 0
f[9] = 255
nokia.print_bars(f)
if 0 < dist1 < 25:
f[0] = 0
f[3] = 0
f[6] = 0
f[9] = 0
nokia.print_bars(f)
dist2 = sensor2.distance_cm()
if 150 < dist2:
f[1] = 255
f[4] = 255
f[7] = 255
f[10] = 255
nokia.print_bars(f)
if 75 < dist2 <= 150:
f[1] = 0
f[4] = 255
f[7] = 255
f[10] = 255
nokia.print_bars(f)
if 50 < dist2 <= 75:
f[1] = 0
f[4] = 0
f[7] = 255
f[10] = 255
nokia.print_bars(f)
if 25 < dist2 <= 50:
f[1] = 0
f[4] = 0
f[7] = 0
f[10] = 255
nokia.print_bars(f)
if 0 < dist2 < 25:
f[1] = 0
f[4] = 0
f[7] = 0
f[10] = 0
nokia.print_bars(f)
if dist2 != -1:
dists.append(dist2)
distance = str(min(dists)) + " cm"
position = (20, 10)
nokia.write_text(distance, position)
def __init__(self):
p_pwr1.value(1)
self.sensor = hcsr04.HCSR04(trigger_pin=p_hcsr_trig,
echo_pin=p_hcsr_echo,
c=hcsr_c)
from machine import Pin
import hcsr04
hcsr = hcsr04.HCSR04(18, 19)
def get_distance():
return hcsr.distance_cm()
print(get_distance())
def main():
sensor1 = hcsr04.HCSR04(4, 19)
sensor2 = hcsr04.HCSR04(16, 26)
nokia = screen.Screen()
f = 255 * np.ones(12)
nokia.print_bars(f)
while (True):
dists = []
dist1 = sensor1.distance_cm()
now = datetime.now()
clock = str(now.hour) + ":" + str(now.minute) + ":" + str(now.second)
position = (20, 0)
nokia.write_text(clock, position)
if dist1 != -1:
dists.append(dist1)
if 150 < dist1:
p = buzzer.init_buzzer(12, 100)
print('ta aqui 1')
bThread = th.Thread(target=buzzer.buzz, args=(
100, 5, 90
)) # Cria a thread e depois coloca-a numa lista de threads ativas
bThread.start() # inicia
f[0] = 255
f[3] = 255
f[6] = 255
f[9] = 255
nokia.print_bars(f)
if 75 < dist1 <= 150:
p = init_buzzer(12, 100)
print('ta aqui 2')
bThread = th.Thread(target=buzz, args=(
100, 5, 90
)) # Cria a thread e depois coloca-a numa lista de threads ativas
bThread.start() # inicia
f[0] = 0
f[3] = 255
f[6] = 255
f[9] = 255
nokia.print_bars(f)
if 50 < dist1 <= 75:
f[0] = 0
f[3] = 0
f[6] = 255
f[9] = 255
nokia.print_bars(f)
if 25 < dist1 <= 50:
f[0] = 0
f[3] = 0
f[6] = 0
f[9] = 255
nokia.print_bars(f)
if 0 < dist1 < 25:
p = init_buzzer(12, 100)
print('ta aqui 3')
bThread = th.Thread(target=buzz, args=(
100, 5, 90
)) # Cria a thread e depois coloca-a numa lista de threads ativas
bThread.start() # inicia
f[0] = 0
f[3] = 0
f[6] = 0
f[9] = 0
nokia.print_bars(f)
#distance = str(min(dists)) + " cm "
print('vai comecar')
distance = str(dist1) + "cm"
position = (20, 10)
nokia.write_text(distance, position)
print('agora vai')
max_steps = int(next(f))
print("max_steps=", max_steps)
except:
pass
# Straighten robot.
exec(open("servo_reset.py").read())
sleep(2)
# Initialize servos.
I2C_servo_bus = I2C(0, speed=100000, sda=27, scl=26)
robot = Servo(I2C_servo_bus)
# Initialize sonic distance sensor.
# trigger=32, echo=33
distance_sensor = hcsr04.HCSR04(32, 33)
# Run.
right_ping_angles_len = len(right_ping_angles)
right_ping_distances = [max_valid_food_distance + 1] * right_ping_angles_len
left_ping_angles_len = len(left_ping_angles)
left_ping_distances = [max_valid_food_distance + 1] * left_ping_angles_len
head_swing_side = 'neutral'
head_swing_count = 0
right_swing_count = 0
left_swing_count = 0
turn_angle_delta = forward_angle_delta
angles_array_len = len(angles_array)
step = 0
step_index = 0
while step_index < angles_array_len and (max_steps == -1 or step < max_steps):
def main():
user = False
saveDHTData = True
logFile = "logger.txt"
# Get the sensors
dht22S = dht22.DHT22()
hcsr04S = hcsr04.HCSR04()
ledS = led.LED()
resetPB = push_button.PushButton(dht22S, ledS, 20)
# Create the queues for each sensor
qDatadht = Q.Queue(1000)
qdhtExit = Q.Queue(1)
qDataHC = Q.Queue(1000)
qhcExit = Q.Queue(1)
serverQ = Q.Queue(100)
sQExit = Q.Queue(1)
# Create locks
dhtLock = t.Lock()
hcLock = t.Lock()
dhtExitL = t.Lock()
hcExitL = t.Lock()
serverLock = t.Lock()
sExitL = t.Lock()
# Create the thread for DHT sensor
thread1 = sThread.SensorThread(1, "Thread1", qDatadht, dhtLock, qdhtExit,
dhtExitL, dht22S)
# Create thread for HC-SR04 sensor
thread2 = sThread.SensorThread(2, "Thread2", qDataHC, hcLock, qhcExit,
hcExitL, hcsr04S)
# Thread for the server
serverT = server.ServerS(3, "Server", logFile, serverQ, serverLock, sQExit,
sExitL)
# Start
thread1.start()
thread2.start()
serverT.start()
endProcess = False
while not endProcess:
dht22Data = None
# Is there data from DHT22?
dhtLock.acquire()
if not qDatadht.empty():
dht22Data = qDatadht.get()
dhtLock.release()
# Is there data from HC-SR04?
hcData = None
hcLock.acquire()
if not qDataHC.empty():
hcData = qDataHC.get()
hcLock.release()
# Was there a presence?
if hcData:
pTime = time.asctime()
data = ["HC", hcData, pTime]
ledS.turnOnLED()
writeToFile(logFile, data)
# DHT data
if saveDHTData:
if dht22Data:
if dht22Data[0] != None:
data = [" DHT", dht22Data[0], dht22Data[1]]
writeToFile(logFile, data)
# Verify is there are new params
data = []
interval = []
serverLock.acquire()
# Get the new parameters
while not serverQ.empty():
data.append(serverQ.get())
serverLock.release()
if not data:
continue
# Modify params is necessary
for d in data:
dSplit = d.split(",")
value = float(dSplit[1])
if dSplit[0] == "RS" and value == 1:
dht22S.setDefaults()
ledS.turnOffLED()
if dSplit[0] == "LI" and value != -1:
interval.append(dSplit[1])
if dSplit[0] == "UI" and value != -1:
interval.append(dSplit[1])
if dSplit[0] == "SP" and value != -1:
dht22S.setPSampling(float(dSplit[1]))
if dSplit[0] == "SV" and value != -1:
saveDHTData = bool(int(dSplit[1]))
if dSplit[0] == "TF" and value != -1:
ledS.turnOffLED()
#
if len(interval) > 0:
dht22S.setSamplingInterval(int(interval[1]), int(interval[2]))
if not dht22S.withinInterval(time.time()):
saveDHTData = False
from machine import Pin
import hcsr04
hcsr = hcsr04.HCSR04(25, 27)
def get_distance():
return hcsr.distance_cm()
def main():
global min_dist
sensor1 = hcsr04.HCSR04(4, 19)
sensor2 = hcsr04.HCSR04(16, 26)
#sensor3 = hcsr04.HCSR04(x,y)
nokia = screen.Screen()
f = 255 * np.ones(12)
nokia.print_bars(f)
b = buzzer2.Buzzer(18, 100)
b.start()
while (True):
dists = []
dist1 = sensor1.distance_cm()
if 150 < dist1:
#b.stopBuzz
f[0] = 255
f[3] = 255
f[6] = 255
f[9] = 255
nokia.print_bars(f)
elif 75 < dist1 <= 150:
#b.buzz(100,95)
f[0] = 0
f[3] = 255
f[6] = 255
f[9] = 255
nokia.print_bars(f)
elif 50 < dist1 <= 75:
#b.buzz(700,95)
f[0] = 0
f[3] = 0
f[6] = 255
f[9] = 255
nokia.print_bars(f)
elif 25 < dist1 <= 50:
#b.buzz(2000,95)
f[0] = 0
f[3] = 0
f[6] = 0
f[9] = 255
nokia.print_bars(f)
elif 0 < dist1 < 25:
#b.buzz(3000,95)
f[0] = 0
f[3] = 0
f[6] = 0
f[9] = 0
nokia.print_bars(f)
dist2 = sensor2.distance_cm()
if 150 < dist2:
f[1] = 255
f[4] = 255
f[7] = 255
f[10] = 255
nokia.print_bars(f)
elif 75 < dist2 <= 150:
f[1] = 0
f[4] = 255
f[7] = 255
f[10] = 255
nokia.print_bars(f)
elif 50 < dist2 <= 75:
f[1] = 0
f[4] = 0
f[7] = 255
f[10] = 255
nokia.print_bars(f)
elif 25 < dist2 <= 50:
f[1] = 0
f[4] = 0
f[7] = 0
f[10] = 255
nokia.print_bars(f)
elif 0 < dist2 < 25:
f[1] = 0
f[4] = 0
f[7] = 0
f[10] = 0
nokia.print_bars(f)
'''
dist3 = sensor3.distance_cm()
if 150 < dist3:
f[2] = 255
f[5] = 255
f[8] = 255
f[11] = 255
nokia.print_bars(f)
elif 75 < dist3 <= 150:
f[2] = 0
f[5] = 255
f[8] = 255
f[11] = 255
nokia.print_bars(f)
elif 50 < dist3 <= 75:
f[2] = 0
f[5] = 0
f[8] = 255
f[11] = 255
nokia.print_bars(f)
elif 25 < dist3 <= 50:
f[2] = 0
f[5] = 0
f[8] = 0
f[11] = 255
nokia.print_bars(f)
elif 0 < dist3 < 25:
f[2] = 0
f[5] = 0
f[8] = 0
f[11] = 0
nokia.print_bars(f)
'''
if dist1 != -1:
dists.append(dist1)
if dist2 != -1:
dists.append(dist2)
#if dist3 != -1:
# dists.append(dist3)
min_dist = min(dists)
#b.run(min_dist)
distance = str(min_dist) + " cm"
position = (20, 10)
nokia.write_text(distance, position)
import micropython
import random
import gc
_BRIGHTNESS = const(0b11100100)
_STRIP = pyb.SPI(1,
pyb.SPI.MASTER,
baudrate=4000000,
crc=None,
bits=8,
firstbit=pyb.SPI.MSB,
phase=1)
DISTANCE_SENSORS = [
hcsr04.HCSR04(machine.Pin(p), machine.Pin(p))
for p in ('X1', 'X2', 'X3', 'X4')
]
closest_distance_sensor = 0
_USER_BUTTON = pyb.Switch()
@micropython.native
def rainbow(h, xbgr):
# h is hue between 0-119.
if h < 20:
xbgr[3] = 255
xbgr[2] = (h * 255) // 20
xbgr[1] = 0
elif h < 40:
def main():
sensor1 = hcsr04.HCSR04(4, 19)
sensor2 = hcsr04.HCSR04(16, 26)
#sensor3 = hcsr04.HCSR04(x,y)
GPIO.setmode(GPIO.BCM)
GPIO.setup(18, GPIO.OUT)
pwm = GPIO.PWM(18, 100)
nokia = screen.Screen()
f = 255 * np.ones(12)
nokia.print_bars(f)
DC = 95
#b = buzzer.Buzzer(18, 100,0)
#b.stop()
while (True):
dists = []
dist1 = sensor1.distance_cm()
if 150 < dist1:
pwm.stop()
f[0] = 255
f[3] = 255
f[6] = 255
f[9] = 255
nokia.print_bars(f)
elif 75 < dist1 <= 150:
#b.buzz(100,95)
pwm.ChangeFrequency(100)
pwm.start(DC)
f[0] = 0
f[3] = 255
f[6] = 255
f[9] = 255
nokia.print_bars(f)
time.sleep(1)
elif 50 < dist1 <= 75:
#b.buzz(700,95)
f[0] = 0
f[3] = 0
f[6] = 255
f[9] = 255
nokia.print_bars(f)
elif 25 < dist1 <= 50:
#b.buzz(2000,95)
f[0] = 0
f[3] = 0
f[6] = 0
f[9] = 255
nokia.print_bars(f)
elif 0 < dist1 < 25:
#b.buzz(3000,95)
pwm.ChangeFrequency(1000)
pwm.start(DC)
f[0] = 0
f[3] = 0
f[6] = 0
f[9] = 0
nokia.print_bars(f)
time.sleep(1)
dist2 = sensor2.distance_cm()
if 150 < dist2:
pwm.stop()
f[1] = 255
f[4] = 255
f[7] = 255
f[10] = 255
nokia.print_bars(f)
elif 75 < dist2 <= 150:
f[1] = 0
f[4] = 255
f[7] = 255
f[10] = 255
nokia.print_bars(f)
elif 50 < dist2 <= 75:
f[1] = 0
f[4] = 0
f[7] = 255
f[10] = 255
nokia.print_bars(f)
elif 25 < dist2 <= 50:
f[1] = 0
f[4] = 0
f[7] = 0
f[10] = 255
nokia.print_bars(f)
elif 0 < dist2 < 25:
f[1] = 0
f[4] = 0
f[7] = 0
f[10] = 0
nokia.print_bars(f)
'''
dist3 = sensor3.distance_cm()
if 150 < dist3:
f[2] = 255
f[5] = 255
f[8] = 255
f[11] = 255
nokia.print_bars(f)
elif 75 < dist3 <= 150:
f[2] = 0
f[5] = 255
f[8] = 255
f[11] = 255
nokia.print_bars(f)
elif 50 < dist3 <= 75:
f[2] = 0
f[5] = 0
f[8] = 255
f[11] = 255
nokia.print_bars(f)
elif 25 < dist3 <= 50:
f[2] = 0
f[5] = 0
f[8] = 0
f[11] = 255
nokia.print_bars(f)
elif 0 < dist3 < 25:
f[2] = 0
f[5] = 0
f[8] = 0
f[11] = 0
nokia.print_bars(f)
'''
if dist1 != -1:
dists.append(dist1)
if dist2 != -1:
dists.append(dist2)
#if dist3 != -1:
# dists.append(dist3)
min_dist = min(dists)
distance = str(min_dist) + " cm"
position = (20, 10)
nokia.write_text(distance, position)
button_F = Button(6, hold_time=.15)
button_B = Button(13, hold_time=.15)
button_L = Button(19, hold_time=.15)
button_R = Button(26, hold_time=.15)
button_1 = Button(16, hold_time=.2)
button_2 = Button(20, hold_time=.2)
button_3 = Button(21, hold_time=1)
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.cleanup(18)
tempHumSensor = dht11.DHT11(
pin=18) # Creating Temperature/Humidity sensor object
distSensor = hcsr04.HCSR04(trig=24, echo=23) # Creating Distance sensor object
execute = False
move = True
cameraActive = False
cameraButton = False
imageNum = 0
maxSpd = 200
currentLiftPos = 0
currentHeadAng = 0
joystickDZ = range(31000, 33500)
distanceList = []
spi = busio.SPI(clock=board.SCK, MISO=board.MISO, MOSI=board.MOSI)
# micropython script that measures distance in mm.
import utime
import hcsr04
# define pins
TRIGGER_PIN = const(4)
ECHO_PIN = const(5)
# setup sensor
sensor = hcsr04.HCSR04(TRIGGER_PIN, ECHO_PIN)
while True:
distance = sensor.distance_mm()
print("Distance: {:.1f} mm".format(distance), end='\r')
utime.sleep_ms(500)
def main():
global min_dist
sensor1 = hcsr04.HCSR04(4,19)
sensor2 = hcsr04.HCSR04(16,26)
sensor3 = hcsr04.HCSR04(13,6)
nokia = screen.Screen()
f = 255*np.ones(12)
nokia.print_bars(f)
z = bz.init_buzzer(18, 100)
b=th.Thread(target = func, args =())
while(True):
dists = []
dist1 = sensor1.distance_cm()
if 150 < dist1:
f[0] = 255
f[3] = 255
f[6] = 255
f[9] = 255
nokia.print_bars(f)
elif 75 < dist1 <= 150:
#b.buzz(100,95)
f[0] = 0
f[3] = 255
f[6] = 255
f[9] = 255
nokia.print_bars(f)
elif 50 < dist1 <= 75:
#b.buzz(700,95)
f[0] = 0
f[3] = 0
f[6] = 255
f[9] = 255
nokia.print_bars(f)
elif 25 < dist1 <= 50:
#b.buzz(2000,95)
f[0] = 0
f[3] = 0
f[6] = 0
f[9] = 255
nokia.print_bars(f)
elif 0 < dist1 < 25:
#b.buzz(3000,95)
f[0] = 0
f[3] = 0
f[6] = 0
f[9] = 0
nokia.print_bars(f)
dist2 = sensor2.distance_cm()
if 150 < dist2:
f[1] = 255
f[4] = 255
f[7] = 255
f[10] = 255
nokia.print_bars(f)
elif 75 < dist2 <= 150:
f[1] = 0
f[4] = 255
f[7] = 255
f[10] = 255
nokia.print_bars(f)
elif 50 < dist2 <= 75:
f[1] = 0
f[4] = 0
f[7] = 255
f[10] = 255
nokia.print_bars(f)
elif 25 < dist2 <= 50:
f[1] = 0
f[4] = 0
f[7] = 0
f[10] = 255
nokia.print_bars(f)
elif 0 < dist2 < 25:
f[1] = 0
f[4] = 0
f[7] = 0
f[10] = 0
nokia.print_bars(f)
dist3 = sensor3.distance_cm()
if 150 < dist3:
f[2] = 255
f[5] = 255
f[8] = 255
f[11] = 255
nokia.print_bars(f)
elif 75 < dist3 <= 150:
f[2] = 0
f[5] = 255
f[8] = 255
f[11] = 255
nokia.print_bars(f)
elif 50 < dist3 <= 75:
f[2] = 0
f[5] = 0
f[8] = 255
f[11] = 255
nokia.print_bars(f)
elif 25 < dist3 <= 50:
f[2] = 0
f[5] = 0
f[8] = 0
f[11] = 255
nokia.print_bars(f)
elif 0 < dist3 < 25:
f[2] = 0
f[5] = 0
f[8] = 0
f[11] = 0
nokia.print_bars(f)
if dist1 != -1:
dists.append(dist1)
if dist2 != -1:
dists.append(dist2)
if dist3 != -1:
dists.append(dist3)
min_dist = min(dists)
#print('ta dando'+ str(min_dist))
distance = str(min_dist) + " cm"
position = (20,10)
nokia.write_text(distance, position)
if(not b.is_alive()):
#print('morta')
b=th.Thread(target = func, args =())
b.start()
def main():
sensor1 = hcsr04.HCSR04(4, 19)
sensor2 = hcsr04.HCSR04(16, 26)
sensor3 = hcsr04.HCSR04(13, 6)
nokia = screen.Screen()
f = 255 * np.ones(12)
nokia.print_bars(f)
buzz = bz.init_buzzer(18, 100)
alarm_thread = th.Thread(target=alarm)
while (True):
dists = []
dist1 = sensor1.distance_cm()
if 150 < dist1:
f[0] = 255
f[3] = 255
f[6] = 255
f[9] = 255
nokia.print_bars(f)
elif 75 < dist1 <= 150:
f[0] = 0
f[3] = 255
f[6] = 255
f[9] = 255
nokia.print_bars(f)
elif 50 < dist1 <= 75:
f[0] = 0
f[3] = 0
f[6] = 255
f[9] = 255
nokia.print_bars(f)
elif 25 < dist1 <= 50:
f[0] = 0
f[3] = 0
f[6] = 0
f[9] = 255
nokia.print_bars(f)
elif 0 < dist1 < 25:
f[0] = 0
f[3] = 0
f[6] = 0
f[9] = 0
nokia.print_bars(f)
dist2 = sensor2.distance_cm()
if 150 < dist2:
f[1] = 255
f[4] = 255
f[7] = 255
f[10] = 255
nokia.print_bars(f)
elif 75 < dist2 <= 150:
f[1] = 0
f[4] = 255
f[7] = 255
f[10] = 255
nokia.print_bars(f)
elif 50 < dist2 <= 75:
f[1] = 0
f[4] = 0
f[7] = 255
f[10] = 255
nokia.print_bars(f)
elif 25 < dist2 <= 50:
f[1] = 0
f[4] = 0
f[7] = 0
f[10] = 255
nokia.print_bars(f)
elif 0 < dist2 < 25:
f[1] = 0
f[4] = 0
f[7] = 0
f[10] = 0
nokia.print_bars(f)
dist3 = sensor3.distance_cm()
if 150 < dist3:
f[2] = 255
f[5] = 255
f[8] = 255
f[11] = 255
nokia.print_bars(f)
elif 75 < dist3 <= 150:
f[2] = 0
f[5] = 255
f[8] = 255
f[11] = 255
nokia.print_bars(f)
elif 50 < dist3 <= 75:
f[2] = 0
f[5] = 0
f[8] = 255
f[11] = 255
nokia.print_bars(f)
elif 25 < dist3 <= 50:
f[2] = 0
f[5] = 0
f[8] = 0
f[11] = 255
nokia.print_bars(f)
elif 0 < dist3 < 25:
f[2] = 0
f[5] = 0
f[8] = 0
f[11] = 0
nokia.print_bars(f)
if dist1 != -1:
dists.append(dist1)
if dist2 != -1:
dists.append(dist2)
if dist3 != -1:
dists.append(dist3)
global min_dist
min_dist = min(dists)
distance = str(min_dist) + " cm"
position = (20, 10)
nokia.write_text(distance, position)
if (not alarm_thread.is_alive()):
alarm_thread = th.Thread(target=alarm)
alarm_thread.start()
#
# Mesure de distance
#
# Programme permettant d'utiliser la librairie qui gere le capteur de
# distance ultrason HC-SR04
# Tester sur NodeMCU Lolin et Wemos D1 mini
#
# Auteur iTechnoFrance
#
import hcsr04, time
# pin_echo : pin pour mesurer la distance
# pin_trig : pin pour envoyer les impulsions
pin_echo = 4 # sortie D2 --> GPIO04
pin_trigger = 5 # sortie D1 --> GPIO05
# initialisation librairie HC-SR04
hc_sr04 = hcsr04.HCSR04(pin_echo, pin_trigger)
while True:
distance = hc_sr04.lecture_distance()
if (distance == -1):
print("Mesure supérieure à 4 mètres")
else:
print((distance), "cm")
time.sleep(5)