Chapter 8 code

2022-02-22 09:49:16 +00:00
parent f5eaff922a
commit 77e6e02703
6 changed files with 259 additions and 0 deletions
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+
+import robot
+import time
+
+robot.left_distance.distance_mode = 1
+robot.left_distance.start_ranging()
+robot.right_distance.distance_mode = 1
+robot.right_distance.start_ranging()
+
+speed = 0.9
+
+def speed_from_distance(distance):
+  limited_distance = min(distance, 30) * speed
+  return limited_distance / 30
+
+try:
+  robot.set_left(speed)
+  robot.set_right(speed)
+  
+  while True:
+    # do we have data:
+    if robot.left_distance.data_ready and robot.right_distance.data_ready:
+      left_dist = robot.left_distance.distance
+      right_dist = robot.right_distance.distance
+      l_speed = speed_from_distance(robot.right_distance.distance)
+      r_speed = speed_from_distance(robot.left_distance.distance)
+      print("Left: {} cm R Sp: {}, Right: {} cm L Sp: {}".format(left_dist, r_speed, right_dist, l_speed))
+      robot.set_left(l_speed)
+      robot.set_right(r_speed)
+
+      robot.left_distance.clear_interrupt()
+      robot.right_distance.clear_interrupt()
+      time.sleep(0.1)
+
+finally:
+  robot.stop()
+  robot.left_distance.clear_interrupt()
+  robot.right_distance.clear_interrupt()
+  robot.left_distance.stop_ranging()
+  robot.right_distance.stop_ranging()