def track_object(distance_stay, distance_range, speed_adj=0.4):
# distance_stay,distance_range in inches
#Tracking with Ultrasonic
motor.setup()
led.setup()
turn.ahead()
turn.middle()
dis = checkdist_inches()
if dis < distance_range: #Check if the target is in distance range
if dis > (
distance_stay + 4
): #If the target is in distance range and out of distance stay, then move forward to track
turn.ahead()
moving_time = (dis - distance_stay) / 0.38
if moving_time > 1:
moving_time = 1
print('mf')
led.both_off()
led.cyan()
motor.motor_left(status, backward,
int(left_spd * spd_ad_u * speed_adj))
motor.motor_right(status, forward,
int(right_spd * spd_ad_u * speed_adj))
time.sleep(moving_time)
motor.motorStop()
elif dis < (
distance_stay - 4
): #Check if the target is too close, if so, the car move back to keep distance at distance_stay
moving_time = (distance_stay - dis) / 0.38
print('mb')
led.both_off()
led.pink()
motor.motor_left(status, forward,
int(left_spd * spd_ad_u * spd_adj))
motor.motor_right(status, backward,
int(right_spd * spd_ad_u * spd_adj))
time.sleep(moving_time)
motor.motorStop()
else: #If the target is at distance, then the car stay still
motor.motorStop()
led.both_off()
led.yellow()
else:
motor.motorStop()
def test_led():
led.setup()
print("both_on()")
led.both_on()
time.sleep(3)
print("red()")
led.red()
time.sleep(3)
print("both_off()")
led.both_off()
time.sleep(1)
print("yellow()")
led.yellow()
time.sleep(3)
print("pink()")
led.pink()
time.sleep(3)
print("both_off()")
led.both_off()
time.sleep(1)
print("cyan()")
led.cyan()
time.sleep(3)
# Flashing in 2 cycles
print("police_on(2)")
led.police_on(2)
print("both_off()")
led.both_off()
time.sleep(3)
# Flashing in 6 seconds
print("police_on()")
led.police_on()
time.sleep(6) #6 seconds
led.police_off()
def loop(distance_stay,distance_range):
'''Tracking with Ultrasonic'''
motor.setup()
led.setup()
turn.ahead()
turn.middle()
dis = checkdist()
if dis < distance_range:
#Check if the target is in diatance range
if dis > (distance_stay+0.1) :
#If the target is in distance range and out of distance stay,
#then move forward to track
turn.ahead()
moving_time = (dis-distance_stay)/0.38 #??? magic number
if moving_time > 1:
moving_time = 1
print('mf')
led.both_off()
led.cyan()
motor.motor_left(status, backward,left_spd*spd_ad_u)
motor.motor_right(status,forward,right_spd*spd_ad_u)
time.sleep(moving_time)
motor.motorStop()
elif dis < (distance_stay-0.1) :
#Check if the target is too close,
#if so, the car move back to keep distance at distance_stay
moving_time = (distance_stay-dis)/0.38
print('mb')
led.both_off()
led.pink()
motor.motor_left(status, forward,left_spd*spd_ad_u)
motor.motor_right(status,backward,right_spd*spd_ad_u)
time.sleep(moving_time)
motor.motorStop()
else:
#If the target is at distance, then the car stay still
motor.motorStop()
led.both_off()
led.yellow()
else:
motor.motorStop()