112 lines
3.5 KiB
Python
112 lines
3.5 KiB
Python
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import time
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from Motor import *
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import RPi.GPIO as GPIO
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from servo import *
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from PCA9685 import PCA9685
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GPIO.setwarnings(False)
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trigger_pin = 27
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echo_pin = 22
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GPIO.setmode(GPIO.BCM)
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GPIO.setup(trigger_pin,GPIO.OUT)
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GPIO.setup(echo_pin,GPIO.IN)
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class Ultrasonic:
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def send_trigger_pulse(self):
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GPIO.output(trigger_pin,True)
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time.sleep(0.00015)
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GPIO.output(trigger_pin,False)
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def wait_for_echo(self,value,timeout):
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count = timeout
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while GPIO.input(echo_pin) != value and count>0:
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count = count-1
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def get_distance(self):
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distance_cm=[0,0,0]
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for i in range(3):
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self.send_trigger_pulse()
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self.wait_for_echo(True,10000)
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start = time.time()
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self.wait_for_echo(False,10000)
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finish = time.time()
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pulse_len = finish-start
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distance_cm[i] = pulse_len/0.000058
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distance_cm=sorted(distance_cm)
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return int(distance_cm[1])
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def run_motor(self,L,M,R):
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if L < 30 and M < 30 and R <30 :
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self.PWM.setMotorModel(-1450,-1450,-1450,-1450)
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time.sleep(0.1)
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if L < R:
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self.PWM.setMotorModel(1450,1450,-1450,-1450)
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else :
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self.PWM.setMotorModel(-1450,-1450,1450,1450)
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elif L < 30 and M < 30:
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self.PWM.setMotorModel(-1450,-1450,-1450,-1450)
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time.sleep(0.1)
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PWM.setMotorModel(1500,1500,-1500,-1500)
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elif R < 30 and M < 30:
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self.PWM.setMotorModel(-1450,-1450,-1450,-1450)
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time.sleep(0.1)
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PWM.setMotorModel(-1500,-1500,1500,1500)
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elif L < 20 :
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PWM.setMotorModel(2000,2000,-500,-500)
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if L < 20 :
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PWM.setMotorModel(1500,1500,-1000,-1000)
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elif R < 30 :
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PWM.setMotorModel(-500,-500,2000,2000)
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if R < 20 :
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PWM.setMotorModel(-1500,-1500,1500,1500)
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elif M < 30 :
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self.PWM.setMotorModel(-1450,-1450,-1450,-1450)
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time.sleep(0.1)
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if L < R:
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self.PWM.setMotorModel(1450,1450,-1450,-1450)
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else :
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self.PWM.setMotorModel(-1450,-1450,1450,1450)
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else :
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self.PWM.setMotorModel(600,600,600,600)
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def run(self):
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self.PWM=Motor()
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self.pwm_S=Servo()
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self.pwm_S.setServoPwm(1,0,30,0)
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R = self.get_distance()
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time.sleep(0.2)
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self.pwm_S.setServoPwm(1,0,90,0)
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L = self.get_distance()
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time.sleep(0.2)
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self.pwm_S.setServoPwm(1,0,150,0)
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M = self.get_distance()
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time.sleep(0.2)
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while True:
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self.pwm_S.setServoPwm(1,0,30,0)
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R = self.get_distance()
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self.run_motor(L,M,R)
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time.sleep(0.2)
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self.pwm_S.setServoPwm(1,0,90,0)
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L = self.get_distance()
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self.run_motor(L,M,R)
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time.sleep(0.2)
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self.pwm_S.setServoPwm(1,0,150,0)
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M = self.get_distance()
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self.run_motor(L,M,R)
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time.sleep(0.2)
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self.run_motor(L,M,R)
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ultrasonic=Ultrasonic()
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# Main program logic follows:
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if __name__ == '__main__':
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print ('Program is starting ... ')
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try:
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ultrasonic.run()
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except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program destroy() will be executed.
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PWM.setMotorModel(0,0,0,0)
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ultrasonic.pwm_S.setServoPwm(1,0,90,20)
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