def check_front():
##Define the variable f_dist as the distance from the front sensor to the nearest object
f_dist = sensors.front_distance()
##Instruct action: if an object is closer than 15 cm away, print "Too close, and the distance", and continue
if f_dist < 15:
driveme.init()
driveme.reverse(2)
def autonomy():
##Set the time to run (for actions other than forward)
tf = 1
##Introduce a variable, x, that will take on a sudorandom value to drive the vechicle in explore mode. x will take on values from 1-7
x = random.randrange(0, 8)
##Set actions for the vechicle based on the value of x
##Drive forward for 5 seconds if x = 0
if x == 0:
check_front()
##Initialise GPIO pins (based on instructions defined in driveme.py)
driveme.init()
##Drive forward for 5 seconds
driveme.forward(5)
##Pivot left for tf seconds if x = 1
elif x == 1:
check_front()
driveme.init()
driveme.pivot_left(tf)
##Pivot right for tf seconds if x = 2
elif x == 2:
check_front()
driveme.init()
driveme.pivot_right(tf)
##Drive forward and to the left for tf seconds if x = 3
elif x == 3:
check_front()
driveme.init()
driveme.turn_left_fwd(tf)
##Drive forward and to the right for tf seconds if x = 4
elif x == 4:
check_front()
driveme.init()
driveme.turn_right_fwd(tf)
##Drive left and reverse for tf seconds if x = 5
elif x == 5:
check_front()
driveme.init()
driveme.turn_left_rev(tf)
##Drive right and reverse for tf seconds if x = 6
elif x == 6:
check_front()
driveme.init()
driveme.turn_right_rev(tf)
##Reverse for tf seconds if x = 7
elif x == 7:
check_front()
driveme.init()
driveme.reverse(tf)
def check_front():
driveme.init()
dist = sensors.distance()
if dist < 15:
print('Too close,', dist)
driveme.init()
driveme.reverse(2)
dist = sensors.distance()
if dist < 15:
print('Too close,', dist)
driveme.init()
driveme.pivot_left(3)
driveme.init()
driveme.reverse(2)
dist = sensors.distance()
if dist < 15:
print('Too close, giving up', dist)
sys.exit()
##Using Python 2.7.3 import RPi.GPIO as gpio import time import sys import driveme ##Driveme.py Test Code: ##Define the time to drive for (tf) tf = 3 #drive vechicle forward for tf driveme.forward(tf) #turn vehicle left while moving forward for tf seconds driveme.reverse(tf) #turn vehicle left while moving forward for tf seconds driveme.turn_left_fwd(tf) #turn vehicle right while moving forward for tf seconds driveme.turn_right_fwd(tf) #turn vehicle left while reversing for tf seconds driveme.turn_left_rev(tf) #turn vehicle right while reversing for tf seconds driveme.turn_right_rev(tf) #Pivot vehicle clockwise (right) for tf seconds driveme.pivot_right(tf) #Pivot vehicle counterclockwise (left) while moving forward for tf seconds driveme.pivot_left(tf)