def run(self):
rospy.init_node('adeept_car_driver')
rate = rospy.Rate(10)
while not rospy.is_shutdown():
self._publish_sonar()
rate.sleep()
motor.destroy()
def destroy(): #motor stops when this program exit
motor.destroy()
GPIO.cleanup()
target=led_thread) #Define a thread for ws_2812 leds
led_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
led_threading.start() #Thread starts
tasks = [
remote_control.read_gamepad_input(),
remote_control.rumble(),
read_gamepad_inputs()
]
loop.run_until_complete(
asyncio.wait(tasks, return_when=asyncio.FIRST_COMPLETED))
led.red()
loop.run_until_complete(removetasks(loop))
motor.destroy()
disconnect_sound.play(1.0)
except Exception as e:
print("Error occured " + str(e))
finally:
if remote_control != None:
remote_control.power_on = False
#remote_control.erase_rumble()
if (strip != None):
led_strip.colorWipe(strip, Color(0, 0, 0))
print("Closing async loop..")
loop.run_until_complete(loop.shutdown_asyncgens())
loop.close()
led.both_off()
def stopWhenObstacle():
m.motorStart(1, m.Dir_forward, 80)
while 1:
if u.checkdist() < dist:
m.motorStop()
break
def turnLeftWhenObstacle():
m.motorStart(1, m.Dir_forward, 90)
while 1:
if u.checkdist() < dist:
#m.motorStop()
t.left()
#m.motorStart(1, m.Dir_forward, 100)
while u.checkdist() < dist:
pass
t.middle()
while 1:
if u.checkdist() < dist:
m.motorStop()
break
try:
turnLeftWhenObstacle()
except KeyboardInterrupt:
m.destroy()
def destroy():
motor.destroy()
GPIO.cleanup()
elif exact != False:
return (t2-t1)*340/2 # gives the answers in meters
def ultra_tester(severity=0.5): #just controlling distance with the ultrasonic
dist = checkdist(exact=True)
if dist < (severity - 0.1):
move.move_backward(60)
elif dist > (severity + 0.1):
move.move_forward(60)
elif dist >= (severity - 0.1) and dist <= (severity + 0.1):
move.motorStop()
if __name__ == '__main__':
ap = argparse.ArgumentParser(description = "True for with motor, false for without motor")
ap.add_argument("with_motor", nargs='?', default=False, type=bool, help ="Do you want to test with the motor or not")
args = ap.parse_args()
move.setup()
try:
if args.with_motor == True:
move.setup()
while True:
ultra_tester(severity=0.3)
else:
while True:
print(checkdist(exact=True))
except:
move.destroy()
