Mercurial > micro-bot

comparison bot.py @ 3:1dc1a2e5e642 default tip

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author Radomir Dopieralski <bitbucket@sheep.art.pl>
date Wed, 20 Mar 2019 23:15:39 +0000
parents 6dcf45d13f35
children
comparison
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2:6dcf45d13f35 3:1dc1a2e5e642
1 import microbit 1 import microbit
2 2
3 3
4 class Servo: 4 class Servo:
5 """A class for controlling continuous-rotation servos."""
6
5 def __init__(self, pin, trim=0): 7 def __init__(self, pin, trim=0):
6 self.pin = pin 8 self.pin = pin # The pin to which the servo is connected.
7 self.trim = trim 9 self.trim = trim # What value makes the servo stop.
8 self.speed = 0 10 self.speed = 0 # Current speed.
9 self.pin.set_analog_period(20) 11 self.pin.set_analog_period(20) # Servo needs 20Hz signal.
10 12
11 def set_speed(self, speed): 13 def set_speed(self, speed):
14 """Sets the rotation speed of the servo, range is -90 to +90."""
15 # Value of 25 gives us around 1000us, which is the minimum duty cycle
16 # for the servo. 125 is the maximum.
12 self.pin.write_analog(int(25 + 100 * (90 + speed) / 180 + self.trim)) 17 self.pin.write_analog(int(25 + 100 * (90 + speed) / 180 + self.trim))
13 self.speed = speed 18 self.speed = speed
14 19
15 20
16 class Robot: 21 class Robot:
17 def __init__(self): 22 def __init__(self):
23 # Initialize the servos. Adjust the trim as needed.
18 self.left_servo = Servo(microbit.pin0, 2) 24 self.left_servo = Servo(microbit.pin0, 2)
19 self.right_servo = Servo(microbit.pin1, 1) 25 self.right_servo = Servo(microbit.pin1, 1)
20 26
21 def go(self, distance): 27 def go(self, distance):
28 """Make the robot go straight for a given distance."""
22 microbit.display.show(microbit.Image.ARROW_S) 29 microbit.display.show(microbit.Image.ARROW_S)
23 self.left_servo.set_speed(-90) 30 self.left_servo.set_speed(-90)
24 self.right_servo.set_speed(90) 31 self.right_servo.set_speed(90)
25 microbit.sleep(int(distance * 2000 / 17)) 32 microbit.sleep(int(distance * 2000 / 17))
26 self.stop() 33 self.stop()
27 34
28 def turn(self, angle): 35 def turn(self, angle):
36 """Make the robot turn in place by given angle in degrees."""
29 if angle > 0: 37 if angle > 0:
30 microbit.display.show(microbit.Image.ARROW_E) 38 microbit.display.show(microbit.Image.ARROW_E)
31 self.left_servo.set_speed(-90) 39 self.left_servo.set_speed(-90)
32 self.right_servo.set_speed(-90) 40 self.right_servo.set_speed(-90)
33 microbit.sleep(int(angle * 64 / 9)) 41 microbit.sleep(int(angle * 64 / 9))
37 self.right_servo.set_speed(90) 45 self.right_servo.set_speed(90)
38 microbit.sleep(int(-angle * 64 / 9)) 46 microbit.sleep(int(-angle * 64 / 9))
39 self.stop() 47 self.stop()
40 48
41 def stop(self): 49 def stop(self):
50 """Make the robot stop."""
42 microbit.display.show(microbit.Image.DIAMOND) 51 microbit.display.show(microbit.Image.DIAMOND)
43 self.left_servo.set_speed(0) 52 self.left_servo.set_speed(0)
44 self.right_servo.set_speed(0) 53 self.right_servo.set_speed(0)
45 54
46 def get_distance(self): 55 def get_distance(self):
56 """Use the distance sensor on pin2."""
47 return microbit.pin2.read_analog() 57 return microbit.pin2.read_analog()
48 58
49 59
50 robot = Robot() 60 robot = Robot() # Create the robot object.
51 while True: 61 while True:
52 robot.go(5) 62 robot.go(5) # Go forward 5 units.
53 if robot.get_distance() > 700: 63 if robot.get_distance() > 700: # If the distance sensor returns something...
54 robot.turn(20) 64 robot.turn(20) # Turn 20 degrees one way.
55 left_distance = robot.get_distance() 65 left_distance = robot.get_distance() # Take a measurement.
56 robot.turn(-40) 66 robot.turn(-40) # Turn 20 degrees the other way (40 in total)
57 right_distance = robot.get_distance() 67 right_distance = robot.get_distance() # Take a measurement.
58 robot.turn(20) 68 robot.turn(20) # Turn back straight.
59 if left_distance < right_distance: 69 if left_distance < right_distance: # Pick whatever side was further away.
60 robot.turn(60) 70 robot.turn(60)
61 else: 71 else:
62 robot.turn(-60) 72 robot.turn(-60)