SunFounder PiSloth, Руководство пользователя

Страница: 69 / 105

SunFounder pisloth
music . background_music( './musics/india-Arulo.mp3' )
music . music_set_volume( 20 )
In general, all actions of PiSloth can be implemented with the
sloth.do_action()
function. It has four parame-
ters:
• motion_name is the name of specific actions, including: forward , turn right , turn left ,
backward , stand , moon walk left , moon walk right , hook , big swing , swing , walk
boldly
,
walk backward boldly
,
walk shyly
,
walk backward shyly
,
stomp rihgt
,
stomp left
,
close
,
open
,
tiptoe left
,
tiptoe right
,
fall left
,
fall right
.
•
step
represents the number of each action is done, the default is 1.
•
speed
indicates the speed of the action, the default is 50 and the range is 0~100.
•
bpm
means rhythm, the bpm parameter here affects the interval time of PiSloth movement. The higher the
value, the shorter the interval time. When we know the beat of a song through the bpm calculator , we can
make PiSloth dance to the music.
For music bmp, if you want to know more, you can refer to: https://en.wikipedia.org/wiki/Tempo
Note: You can add different sound effects or music to musics or sounds folder via Filezilla Software .
4.4 Obstacle Avoidance
In this project, PiSloth will use an ultrasonic module to detect obstacles in front. When PiSloth detects an obstacle, it
will send a signal and look for another direction to move forward.
Run the Code
cd / home / pi / pisloth / examples
sudo python3 avoid . py
After the code runs, PiSloth will walk forward. If it detects that the distance of the obstacle ahead is less than 10cm, it
will stop and sound a warning, then turn left and stop. If there is no obstacle in the direction after turning left or the
obstacle distance is greater than 10, it will continue to move forward.
Code
Note: You can Modify/Reset/Copy/Run/Stop the code below. But before that, you need to go to source code path
like
pisloth\examples
. After modifying the code, you can run it directly to see the effect.
from pisloth import Sloth
from robot_hat import TTS, Music
from robot_hat import Ultrasonic
from robot_hat import Pin
import time
import os
tts = TTS()
music = Music()
sloth = Sloth([ 1 , 2 , 3 , 4 ])
(continues on next page)
4.4. Obstacle Avoidance 65