def findWall(speed): s = sensors[SENS_R] sClicks = s._sensorClicks robohat.forward(speed) # Sanity check (possibly report timeout) countDown = 1000 while(not robohat.irAll() and countDown > 0): time.sleep(0.01) countDown -= 1 robohat.stop() time.sleep(1) eClicks = s._sensorClicks print("final clicks: ", (sClicks - eClicks))
def forward(revs, speed): robohat.forward(speed) clicks = int(revs*CLICKS_PER_REV) # doesn't matter which side's sensor we use s = sensors[SENS_L] s.start(clicks).wait(5) # TODO: figure out how many clicks for the motors to stop, and allow for that # in the above loop: # speed, extra clicks # 30, 7-8 # 50, 11-12 # 70, 13 # 100, 13-14 robohat.stop() time.sleep(1) print("final clicks: ", s._sensorClicks)
def wallAvoid(): print('Starting wall avoid') speed = 100 time_end = time.time() + 4 # main loop try: for i in range(2): time_end = time.time() + 6 while time.time() < time_end: rightSensor = robohat.irRight() leftSensor = robohat.irLeft() if rightSensor and leftSensor: robohat.spinLeft(speed) time.sleep(1) elif rightSensor: robohat.spinLeft(speed) time.sleep(0.2) elif leftSensor == True: robohat.spinRight(speed) time.sleep(0.2) else: robohat.forward(speed) robohat.forward(0) time.sleep(3) robohat.forward(speed) time.sleep(0.2) robohat.spinLeft(speed) time.sleep(4) except KeyboardInterrupt: robohat.stop() robohat.cleanup()
def wallAvoid(): print('Starting wall avoid') speed = 100 time_end = time.time() + 4 # main loop try: for i in range(2): time_end = time.time() + 6 while time.time() < time_end: rightSensor = robohat.irRight() leftSensor = robohat.irLeft() if rightSensor and leftSensor: robohat.spinLeft(speed) time.sleep(1) elif rightSensor: robohat.spinLeft(speed) time.sleep(0.2) elif leftSensor == True: robohat.spinRight(speed) time.sleep(0.2) else: robohat.forward(speed) robohat.forward(0) time.sleep(3) robohat.forward(speed) time.sleep(0.2) robohat.spinLeft(speed) time.sleep(4) except KeyboardInterrupt: robohat.stop() robohat.cleanup()
import robohat, time speed = 80 robohat.init() # main loop try: while True: rightSensor = robohat.irRight() leftSensor = robohat.irLeft() print "right:{0}, left:{1}".format(rightSensor, leftSensor) if rightSensor and leftSensor: robohat.spinLeft(speed) time.sleep(1) elif rightSensor: robohat.spinLeft(speed) time.sleep(0.2) print('Turn Left') elif leftSensor == True: robohat.spinRight(speed) time.sleep(0.2) print('Turn Right') else: robohat.forward(speed) except KeyboardInterrupt: robohat.stop() robohat.cleanup()
return chr(0x10 + ord(c3) - 65) # 16=Up, 17=Down, 18=Right, 19=Left arrows # End of single character reading #====================================================================== speed = 60 robohat.init() # main loop try: while True: keyp = readkey() if keyp == 'w' or ord(keyp) == 16: robohat.forward(speed) print ('Forward', speed) elif keyp == 'z' or ord(keyp) == 17: robohat.reverse(speed) print ('Reverse', speed) elif keyp == 's' or ord(keyp) == 18: robohat.spinRight(speed) print ('Spin Right', speed) elif keyp == 'a' or ord(keyp) == 19: robohat.spinLeft(speed) print ('Spin Left', speed) elif keyp == '.' or keyp == '>': speed = min(100, speed+10) print ('Speed+', speed) elif keyp == ',' or keyp == '<': speed = max (0, speed-10)
else: return "Right" if __name__ == "__main__": init() try: while True: dist = int(robohat.getDistance()) print("Distance: ", dist) left_ir = robohat.irLeft() right_ir = robohat.irRight() if not (left_ir or right_ir): if dist > 50: robohat.forward(settings["speed"]) print("No obstacles in range to worry about") time.sleep(0.5) elif dist > 10: print("Getting close, speed is: ", int((settings["speed"]) * float(dist / 50))) robohat.forward(int( (settings["speed"]) * float(dist / 50))) time.sleep(0.5) elif dist < 10: print("I'm getting close, taking evasive action!") if side_distances() == "Left": print("Evading left!") robohat.spinLeft(settings["speed"]) else: print("Evading right!")