SunFounder PiSloth, Manual

Page: 74 / 105

SunFounder pisloth
(continued from previous page)
music = Music()
sloth = Sloth([ 1 , 2 , 3 , 4 ])
sloth . set_offset([ 0 , 0 , 0 , 0 ])
sonar = Ultrasonic(Pin( "D2" ) ,Pin( "D3" ))
alert_distance = 40
contact_distance = 5
def main ():
distance = sonar . read()
if distance <= alert_distance and distance >= contact_distance :
try :
music . sound_effect_play( './sounds/battle.wav' )
music . background_music( './musics/attack.mp3' )
music . music_set_volume( 20 )
except Exception as e:
print (e)
while True :
distance = sonar . read()
print (distance)
if distance < 0 :
continue
if distance <= contact_distance:
break
sloth . do_action( 'forward' , 1 , 90 )
sloth . do_action( 'stand' , 1 , 90 )
time . sleep( 1 )
if __name__ == "__main__" :
while True :
main()
How it works?
Here is the main program.
• Read the
distance
detected by ultrasonic module and filter out the values less than 0 (When the ultrasonic
module is too far from the obstacle or cannot read the data correctly,
distance<0
will appear).
• When the distance is between 5 and 40, PiSloth will play warning.wav and attack.mp3 and move
forward .
• When the
distance
is less than 5, PiSloth will keep the
stand
position.
distance = sonar . read()
if distance <= alert_distance and distance >= contact_distance :
try :
music . sound_effect_play( './sounds/battle.wav' )
music . background_music( './musics/attack.mp3' )
music . music_set_volume( 20 )
except Exception as e:
print (e)
while True :
distance = sonar . read()
print (distance)
(continues on next page)
70 Chapter 4. Play with Python