def RoboCommand(words): global command strg='' for w in words[:]: if (w !=0): strg=strg+str(w) if (strg == 'WALK'):api.PlayAction(83) elif (strg == 'STOP'):api.PlayAction(82) elif (strg == 'STAND'):api.PlayAction(82) elif (strg == 'SIT'):api.PlayAction(80) elif (strg == 'FINAL'): api.PlayAction(83) while int(reading(0))>30: print 'walking' #30cm is the distance between the two robots- we can set the final line at this point api.PlayAction(82) elif (strg == 'SOS'):print 'api.PlayAction(SOS )' elif (strg == 'UVA'):api.PlayAction(84)
# -*- coding: UTF-8 -*- from PCA9685 import PCA9685 #导入驱动, import time import ultrasonic pwm = PCA9685() pwm.init() #初始化pca9685 pwm.setsq(60) #设置频率 pwm.allinit() #把16个通道初始化 jiaodu = 90 while 1: while jiaodu < 130: pwm.setduoji(0, jiaodu) #设置0通道角度 # pwm.setduoji(1,jiaodu)#设置1通道角度 # jiaodu=jiaodu+1 # time.sleep(0.01) print jiaodu ultrasonic.reading(0) while jiaodu > 30: pwm.setduoji(0, jiaodu) # pwm.setduoji(1,jiaodu) # jiaodu=jiaodu-1 # time.sleep(0.01) print jiaodu ultrasonic.reading(0)
import time import ultrasonic as us import infrared as ir import RPi.GPIO as GPIO GPIO.setwarnings(False) GPIO.setmode(GPIO.BCM) distance = 0 detect = 0 motion_detect = 0 sensor = 0 LED = 14 GPIO.setup(LED, GPIO.OUT) while True: motion_detect = ir.motion_detect(detect) if motion_detect == 1: distance = us.reading(sensor) print("distance:" + str(distance)) if distance < 30: GPIO.output(LED, 1) elif distance > 400: print("error") else: GPIO.output(LED, 0)
from ultrasonic import reading while True: print reading(0)