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advance_robot.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Wed Oct 14 13:41:44 2020
@author: bjopet
"""
#!/usr/bin/python
import RPi.GPIO as GPIO
import time
import random
class Robot:
def __init__(self):
GPIO.setmode(GPIO.BOARD)
GPIO.setup(31, GPIO.OUT)
GPIO.setup(33, GPIO.OUT)
GPIO.setup(35, GPIO.OUT)
GPIO.setup(37, GPIO.OUT)
while True:
self.center_sensor()
self.left_sensor()
self.right_sensor()
def center_sensor(self):
self.PIN_TRIGGER = 7
self.PIN_ECHO = 11
GPIO.setup(self.PIN_TRIGGER, GPIO.OUT)
GPIO.setup(self.PIN_ECHO, GPIO.IN)
GPIO.output(self.PIN_TRIGGER, GPIO.LOW)
# print("Värmer upp sensorn")
time.sleep(0.2)
#print("Beräknar avstånd")
GPIO.output(self.PIN_TRIGGER, GPIO.HIGH)
time.sleep(0.00001)
GPIO.output(self.PIN_TRIGGER, GPIO.LOW)
while GPIO.input(self.PIN_ECHO) == 0:
pulse_start_time = time.time()
while GPIO.input(self.PIN_ECHO) == 1:
pulse_end_time = time.time()
pulse_duration = pulse_end_time - pulse_start_time
distance = round(pulse_duration * 17150, 2)
print("Avstånd:", distance, "cm")
if distance < 30:
res = random.randint(0, 11)
if res > 5:
self.stopit()
time.sleep(0.2)
self.back_right()
time.sleep(0.5)
else:
self.stopit()
time.sleep(0.2)
self.back_left()
time.sleep(0.5)
else:
self.forward()
def left_sensor(self):
self.PIN_TRIGGER = 13
self.PIN_ECHO = 15
GPIO.setup(self.PIN_TRIGGER, GPIO.OUT)
GPIO.setup(self.PIN_ECHO, GPIO.IN)
GPIO.output(self.PIN_TRIGGER, GPIO.LOW)
# print("Värmer upp sensorn")
time.sleep(0.2)
#print("Beräknar avstånd")
GPIO.output(self.PIN_TRIGGER, GPIO.HIGH)
time.sleep(0.00001)
GPIO.output(self.PIN_TRIGGER, GPIO.LOW)
while GPIO.input(self.PIN_ECHO) == 0:
pulse_start_time = time.time()
while GPIO.input(self.PIN_ECHO) == 1:
pulse_end_time = time.time()
pulse_duration = pulse_end_time - pulse_start_time
distance = round(pulse_duration * 17150, 2)
print("Avstånd:", distance, "cm")
if distance < 30:
print("Hinder upptäckt påbörjar åtgärd")
self.stopit()
time.sleep(0.2)
self.back_left()
time.sleep(0.5)
def right_sensor(self):
self.PIN_TRIGGER = 16
self.PIN_ECHO = 18
GPIO.setup(self.PIN_TRIGGER, GPIO.OUT)
GPIO.setup(self.PIN_ECHO, GPIO.IN)
GPIO.output(self.PIN_TRIGGER, GPIO.LOW)
time.sleep(0.2)
GPIO.output(self.PIN_TRIGGER, GPIO.HIGH)
time.sleep(0.00001)
GPIO.output(self.PIN_TRIGGER, GPIO.LOW)
while GPIO.input(self.PIN_ECHO) == 0:
pulse_start_time = time.time()
while GPIO.input(self.PIN_ECHO) == 1:
pulse_end_time = time.time()
pulse_duration = pulse_end_time - pulse_start_time
distance = round(pulse_duration * 17150, 2)
print("Avstånd:", distance, "cm")
if distance < 30:
print("Hinder upptäckt påbörjar åtgärd")
self.stopit()
time.sleep(0.2)
self.back_right()
time.sleep(0.5)
def stopit(self):
GPIO.output(31, False)
GPIO.output(33, False)
GPIO.output(35, False)
GPIO.output(37, False)
#time.sleep(1.0)
def forward(self):
GPIO.output(31, False)
GPIO.output(33, True)
GPIO.output(35, False)
GPIO.output(37, True)
def back_right(self):
GPIO.output(31, True)
GPIO.output(33, False)
GPIO.output(35, False)
GPIO.output(37, False)
#time.sleep(0.5)
def back_left(self):
GPIO.output(31, False)
GPIO.output(33, False)
GPIO.output(35, True)
GPIO.output(37, False)
#time.sleep(0.5)
if __name__ == "__main__":
try:
r = Robot()
except KeyboardInterrupt:
print("Stänger ner...")
GPIO.cleanup()