def OffAxisBy(repeats=5): FL_dist = 0 FR_dist = 0 FM_dist = 0 for i in range(0,repeats): FL_dist += rngf_FL.MeasureOnce() FR_dist += rngf_FR.MeasureOnce() FM_dist += rngf_FM.MeasureOnce() HCSR04.sleep(rngf_FM.setl_len) # Give time for sensors to settle FL_dist /= repeats # +15deg dist in cm FR_dist /= repeats # -15deg dist in cm FM_dist /= repeats # 0deg dist in cm
def calculateCurrentVolume(self):
values = []
for count in range(1, 10):
uSeconds = hc.readvalue(self.trigger_gpio_pin, self.echo_gpio_pin)
values.append(uSeconds)
uSeconds = median(values)
distance = uSeconds * (
343.59 / 1000000.0000
) # time in us * ( speed of sound m/s / 10e6 ) -> m/us -> m
distance = distance * 100 # m -> cm
distance = distance / 2 # signal from sensor is traveling to surface and back thus dividing by two
log.debug("Distance: " + str(distance))
liquidHeight = self.sensor_distance - distance
volume = self.calculateVolume(self.reservoir_length,
self.reservoir_width, liquidHeight)
litres = self.cubicCentiMetersToLitres(
volume
) * self.reservoir_multiplier # litres multiplied by multiplier, in my setup I have two plastic boxes connected to each other, water will level between boxes by physics
log.debug("Litres: " + str(litres))
return round(litres)
def __init__(self, trig_pin, echo_pin, i2c_bus=1, _get_state=None):
self.bus = SMBus(i2c_bus)
self.IRSens = MLX90614(self.bus)
self.ProxSens = HCSR04.HCSR_04(trig_pin, echo_pin,
self.IRSens.get_ambient())
self.VERIFICATION = 10
self._get_state = _get_state
def calculateCurrentVolume(self):
values = []
for count in range(1,10):
uSeconds = hc.readvalue(self.trigger_gpio_pin, self.echo_gpio_pin)
values.append(uSeconds)
uSeconds = median(values)
distance = uSeconds * ( 343.59 / 1000000.0000 ) # time in us * ( speed of sound m/s / 10e6 ) -> m/us -> m
distance = distance * 100 # m -> cm
distance = distance / 2 # signal from sensor is traveling to surface and back thus dividing by two
log.debug("Distance: " + str(distance))
liquidHeight = self.sensor_distance - distance
volume = self.calculateVolume(self.reservoir_length, self.reservoir_width, liquidHeight)
litres = self.cubicCentiMetersToLitres(volume) * self.reservoir_multiplier # litres multiplied by multiplier, in my setup I have two plastic boxes connected to each other, water will level between boxes by physics
log.debug("Litres: " + str(litres))
return round(litres)
'''
Created on Jul 1, 2015
@author: markos
'''
import HCSR04 as hc
if __name__ == '__main__':
''' trigger, echo '''
val = hc.readvalue(23,24)
val = val / 1000000.00
distance = val * 343.59 * 100
distance = distance / 2
distance = distance / 1000000.00
distance = round(distance, 2)
print "Distance : %.1f" % distance
def turn():
stopCount = 0
print "TURN"
motor_ctrl.setMode("LEFT")
time.sleep(.6)
motor_ctrl.setMode("BACKWARD")
time.sleep(.3)
motor_ctrl.setMode("STOP")
stopCount = 0
config.initialize()
sensor1 = HCSR04.HCSR04(16, 18, "FRONT")
sensor1.start()
motor_ctrl = L298N.L298N(7, 11, 12, 13)
motor_ctrl.start()
while True:
print "FRONT: ", sensor1.read()
distance = sensor1.read()
time.sleep(0.05)
if distance < 40:
stopCount = stopCount + 1
print "STOP"
motor_ctrl.setMode("STOP")
if stopCount > 2:
STOP_DISTANCE = 40
def turn():
stopCount = 0
print "TURN"
motor_ctrl.setMode("LEFT")
time.sleep(.6)
motor_ctrl.setMode("BACKWARD")
time.sleep(.3)
motor_ctrl.setMode("STOP")
stopCount = 0
config.initialize()
sensorC = HCSR04.HCSR04(37, 38, "FRONT")
sensorC.start()
sensorL = HCSR04.HCSR04(35, 36, "LEFT")
sensorL.start()
sensorR = HCSR04.HCSR04(31, 32, "RIGHT")
sensorR.start()
motor_ctrl = L298N.L298N(22, 11, 12, 13)
motor_ctrl.start()
motor_ctrl.setMode("FORWARD")
def checkDistances():
print "Checking distances"
center = sensorC.read()
left = sensorL.read()
right = sensorR.read()
def turn():
stopCount = 0
print "TURN"
motor_ctrl.setMode("LEFT")
time.sleep(.6)
motor_ctrl.setMode("BACKWARD")
time.sleep(.3)
motor_ctrl.setMode("STOP")
stopCount = 0
config.initialize()
sensorFront = HCSR04.HCSR04(config.TRIG1, config.ECHO, "FRONT")
#sensorRight = HCSR04.HCSR04(config.TRIG2, config.ECHO, "RIGHT")
#sensorLeft = HCSR04.HCSR04(config.TRIG4, config.ECHO, "LEFT")
sensorFront.start()
#sensorRight.start()
#sensorLeft.start()
motor_ctrl = L298N.L298N(22, 11, 12, 13)
motor_ctrl.start()
#logicUnit = logic.LogicalUnit(motor_ctrl, [sensorFront, sensorRight, sensorLeft])
print "Setup Complete"
#logicUnit.start()
# Author: Ben Evans # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # from time import sleep # Already imported in HCSR04.py, so use that # import RPi.GPIO as GPIO # Shouldn't be needed here import HCSR04 # INITIALIZE SENSORS # rngf_FL = HCSR04.HCSR04(7,13) # -> rangefinder: front left rngf_FM = HCSR04.HCSR04(19,21) # -> rangefinder: front mid rngf_FR = HCSR04.HCSR04(23,22) # -> rangefinder: front right rngf_ML = HCSR04.HCSR04(8,12) # -> rangefinder: mid left rngf_MR = HCSR04.HCSR04(16,18) # -> rangefinder: mid right rngf_RM = HCSR04.HCSR04(24,26) # -> rangefinder: rear mid HCSR04.sleep(0.5) # Extra time for all sensor pins to settle def OffAxisBy(repeats=5): FL_dist = 0 FR_dist = 0 FM_dist = 0 for i in range(0,repeats): FL_dist += rngf_FL.MeasureOnce() FR_dist += rngf_FR.MeasureOnce() FM_dist += rngf_FM.MeasureOnce() HCSR04.sleep(rngf_FM.setl_len) # Give time for sensors to settle FL_dist /= repeats # +15deg dist in cm FR_dist /= repeats # -15deg dist in cm FM_dist /= repeats # 0deg dist in cm
'''
Created on Jul 1, 2015
@author: markos
'''
import HCSR04 as hc
if __name__ == '__main__':
''' trigger, echo '''
val = hc.readvalue(23, 24)
val = val / 1000000.00
distance = val * 343.59 * 100
distance = distance / 2
distance = distance / 1000000.00
distance = round(distance, 2)
print "Distance : %.1f" % distance
# definir o mapeamento dos pins para placa
GPIO.setmode(GPIO.BOARD)
# definir os pinos GPIO como input/'entrada'
leftSensor = 7
rightSensor = 10
GPIO.setup(leftSensor, GPIO.IN)
GPIO.setup(rightSensor, GPIO.IN)
# chamar a função para confirmar que os motores estão desligados
motores_f.Parar()
# desligar as mensagens de erro
GPIO.setwarnings(False)
while True: # Loop principal
if HCSR04.distance() < 15.0:
motores_f.Parar()
for x in range(x, 5, 1):
print(
'Objeto detectado em uma distância menor que 15cm. Por favor retirar da trajetoria.'
)
time.sleep(10)
else:
# se ambos os sensores estiverem desligados, desligar todos os motores
if GPIO.input(leftSensor) == 0 and GPIO.input(rightSensor) == 0:
motores_f.Frente_Esquerda_Off()
motores_f.Frente_Direita_Off()
motores_f.Tras_Esquerda_Off()
motores_f.Tras_Direita_Off()
# se ambos os sensores estiverem ligados, ligar ambos os motores
if GPIO.input(leftSensor) == 1 and GPIO.input(rightSensor) == 1:
def __init__(self, trig_pin, echo_pin):
self.ProxSens= HCSR04.HCSR_04(trig_pin, echo_pin)
from HCSR04 import *
import time
import _thread
sensor = HCSR04(trigger_pin=5, echo_pin=18)
def ultraRead():
while(True):
distance = sensor.distance_cm()
print('Distance:', distance, 'cm')
time.sleep_ms(500)
_thread.start_new_thread(ultraRead, ())
