George_Andreou/Robotex-Folkrace
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Γιώργος Αντρέου 2025-06-16 01:46:32 +03:00
parent 05f48e8a3e
commit 19388afdd2
1 changed files with 31 additions and 27 deletions
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56
folkrace.py
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@ -16,52 +16,52 @@ right = adafruit_hcsr04.HCSR04(trigger_pin=board.D10, echo_pin=board.D11)
left = adafruit_hcsr04.HCSR04(trigger_pin=board.D6, echo_pin=board.D9) left = adafruit_hcsr04.HCSR04(trigger_pin=board.D6, echo_pin=board.D9)
def forward(): def forward():
m1.throttle = 1 m1.throttle = 0.5
m2.throttle = 1 m2.throttle = 0.5
m3.throttle = 1 m3.throttle = 0.5
m4.throttle = 1 m4.throttle = 0.5
def backward(): def backward():
m1.throttle = -1 m1.throttle = -0.5
m2.throttle = -1 m2.throttle = -0.5
m3.throttle = -1 m3.throttle = -0.5
m4.throttle = -1 m4.throttle = -0.5
def stleft(): def stleft():
m1.throttle = -1 m1.throttle = -0.5
m2.throttle = 1 m2.throttle = 0.5
m3.throttle = 1 m3.throttle = 0.5
m4.throttle = -1 m4.throttle = -0.5
def stright(): def stright():
m1.throttle = 1 m1.throttle = 0.5
m2.throttle = -1 m2.throttle = -0.5
m3.throttle = -1 m3.throttle = -0.5
m4.throttle = 1 m4.throttle = 0.5
def dgright(): def dgright():
m1.throttle = 1 m1.throttle =0.5
m2.throttle = 0 m2.throttle = 0
m3.throttle = 0 m3.throttle = 0
m4.throttle = 1 m4.throttle =0.5
def dgleft(): def dgleft():
m1.throttle = 0 m1.throttle = 0
m2.throttle = 1 m2.throttle =0.5
m3.throttle = 1 m3.throttle =0.5
m4.throttle = 0 m4.throttle = 0
def turnright(): def turnright():
m1.throttle = 1 m1.throttle = 0.5
m2.throttle = 1 m2.throttle = 0.5
m3.throttle = 1 m3.throttle = 0.5
m4.throttle = 0 m4.throttle = 0
def turnleft(): def turnleft():
m1.throttle = 1 m1.throttle = 0.5
m2.throttle = 1 m2.throttle = 0.5
m3.throttle = 0 m3.throttle = 0
m4.throttle = 1 m4.throttle = 0.5
while True: while True:
print("F=", f"{front.distance:.2f}", "R=", f"{right.distance:.2f}", "L=", f"{left.distance:.2f}") print("F=", f"{front.distance:.2f}", "R=", f"{right.distance:.2f}", "L=", f"{left.distance:.2f}")
@ -69,14 +69,18 @@ while True:
if front.distance <= 20: # What to do when there is an obstacle ahead if front.distance <= 20: # What to do when there is an obstacle ahead
if left.distance > right.distance: # Diagonally left if left.distance > right.distance: # Diagonally left
dgleft() dgleft()
time.sleep(0.8)
if right.distance > left.distance: # Diagonally right if right.distance > left.distance: # Diagonally right
dgright() dgright()
time.sleep(0.8)
if left.distance < 30: # Strafe right if left.distance < 30: # Strafe right
turnright() turnright()
#stright() #stright()
time.sleep(0.5)
if right.distance < 30: # Strafe left if right.distance < 30: # Strafe left
turnleft() turnleft()
#stleft() #stleft()
time.sleep(0.5)
else: else:
forward() forward()