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()
def detect_object(self): newL = robohat.irLeft() newR = robohat.irRight() if (newL != self.lastL) or (newR != self.lastR): robohat.turnReverse(40, 40) time.sleep(0.7) robohat.spinRight(70) time.sleep(0.4) robohat.turnForward(20, 20) else: pass
def right(revs, speed): robohat.spinRight(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) robohat.stop() time.sleep(1) print("final clicks: ", s._sensorClicks)
def updateMotors(self): Y_axis = self.yValue X_axis = self.xValue r_speed, l_speed = self.joystickToDiff(X_axis, -Y_axis, -1, 1, -100, 100) #print("Left: " + str(l_speed) + ", Right: " + str(r_speed)) if Y_axis < 0: if X_axis > 0: if r_speed < 0: r_speed = 20.0 else: r_speed = r_speed + 20 r_speed = min(100, r_speed) robohat.turnForward(l_speed, r_speed) elif X_axis < 0: if l_speed < 0: l_speed = 20.0 else: l_speed = l_speed + 20 l_speed = min(100, l_speed) robohat.turnForward(l_speed, r_speed) else: robohat.turnForward(l_speed, r_speed) elif Y_axis > 0: if X_axis > 0: r_speed = -r_speed if l_speed < 0: l_speed = -l_speed + 20 l_speed = min(100, l_speed) else: l_speed = 20.0 robohat.turnReverse(l_speed, r_speed) elif X_axis < 0: l_speed = -l_speed if r_speed < 0: r_speed = -r_speed + 20 r_speed = max(20, r_speed) else: r_speed = 20.0 robohat.turnReverse(l_speed, r_speed) else: r_speed = -r_speed l_speed = -l_speed robohat.turnReverse(l_speed, r_speed) else: if X_axis > 0: pass robohat.spinRight(abs(l_speed)) elif X_axis < 0: pass robohat.spinLeft(abs(r_speed)) else: robohat.stop()
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()
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) print ('Speed-', speed) elif keyp == ' ': robohat.stop() print ('Stop') elif ord(keyp) == 3: break
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!") robohat.spinRight(settings["speed"]) time.sleep(0.5) else: if left_ir and not right_ir: robohat.spinRight(settings["speed"]) print("Turning right to avoid obstacle") time.sleep(0.5) elif not left_ir and right_ir: robohat.spinLeft(settings["speed"]) print("Turning left to avoid obstacle") time.sleep(0.5) else: print("Which way to turn?") if side_distances() == "Left": robohat.spinLeft(settings["speed"]) else: