SunFounder PiSloth, Руководство пользователя, Страница: 70 / 105

SunFounder pisloth
(continued from previous page)
sloth . set_offset([ 0 , 0 , 0 , 0 ])
sonar = Ultrasonic(Pin( "D2" ) ,Pin( "D3" ))
alert_distance = 10
def main ():
distance = sonar . read()
if distance < 0 :
pass
elif distance <= alert_distance:
try :
music . sound_effect_threading( './sounds/sign.wav' )
except Exception as e:
print (e)
sloth . do_action( 'hook' , 1 , 95 )
time . sleep( 0.5 )
sloth . do_action( 'stand' , 1 , 95 )
time . sleep( 0.5 )
sloth . do_action( 'turn left' , 7 , 90 )
sloth . do_action( 'stand' , 1 , 95 )
time . sleep( 0.2 )
else :
sloth . do_action( 'forward' , 1 , 90 )
if __name__ == "__main__" :
while True :
main()
How it works?
You can get the distance by importing the
Ultrasonic
class.
from robot_hat import Ultrasonic
Then initialize the ultrasonic pins.
sonar = Ultrasonic(Pin( "D2" ) ,Pin( "D3" ))
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 less than or equal to
alert_distance
(the threshold value set earlier, which is 10),
play the sound effect
sign.wav
. PiSloth does
hook
,
stand
,
left turn
and
stand
in sequence.
• When the distance is greater than alert_distance , PiSloth will move forward .
distance = sonar . read()
if distance < 0 :
pass
elif distance <= alert_distance:
try :
music . sound_effect_threading( './sounds/sign.wav' )
except Exception as e:
print (e)
sloth . do_action( 'hook' , 1 , 95 )
(continues on next page)
66 Chapter 4. Play with Python