• API
• FAQ
• Tools
• Archive
SHARE
TWEET

# Untitled

a guest Nov 13th, 2019 94 Never
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
1. """I hate robots."""
2. from PiBot import PiBot
3.
4. robot = PiBot()
5.
6.
7. def find_object():
8.     """Find object pls work."""
9.     front = robot.get_front_left_laser()
10.     action = 0
11.     print(front)
12.     while True:
13.         if action == 0:
14.             left_middle_front = robot.get_front_middle_laser()
15.             robot.set_left_wheel_speed(8)
16.             robot.set_right_wheel_speed(-8)
17.             robot.sleep(0.07)
18.
19.             left_middle_front1 = robot.get_front_middle_laser()
20.
21.             print(f"Lasers: {robot.get_front_lasers()}")
22.
23.             difference = 0
24.             if left_middle_front < 2.0 or left_middle_front1 < 2.0:
25.                 difference = left_middle_front - left_middle_front1
26.                 print(difference)
27.
28.             if abs(difference) > 0.21:
29.                 robot.set_wheels_speed(0)
30.                 robot.sleep(1)
31.                 # action = 1
32.                 print("Here you are!")
33.                 return move_by_encoders()
34.
35.
36. def move_by_encoders():
37.     """Move by encoders."""
38.     robot.set_wheels_speed(0)
39.     robot.sleep(1)
40.     encoders = [abs(robot.get_right_wheel_encoder()), abs(robot.get_left_wheel_encoder())]
41.
42.     print(f"Right encoder: {robot.get_right_wheel_encoder()}")
43.     print(f"Left encoder: {robot.get_left_wheel_encoder()}")
44.
45.     if encoders[0] > encoders[1]:
46.         print("Right encoder has bigger value.")
47.         while abs(robot.get_right_wheel_encoder()) != abs(robot.get_left_wheel_encoder()):
48.             print(abs(robot.get_right_wheel_encoder()), abs(robot.get_left_wheel_encoder()))
49.             robot.set_right_wheel_speed(8)
50.             robot.sleep(0.05)
51.
52.     elif encoders[0] < encoders[1]:
53.         print("Left encoder has bigger value.")
54.         while abs(robot.get_right_wheel_encoder()) != abs(robot.get_left_wheel_encoder()):
55.             print(abs(robot.get_right_wheel_encoder()), abs(robot.get_left_wheel_encoder()))
56.             robot.set_left_wheel_speed(-8)
57.             robot.sleep(0.05)
58.
59.         print("All good.")
60.         print(abs(robot.get_right_wheel_encoder()), abs(robot.get_left_wheel_encoder()))
61.         robot.set_wheels_speed(0)
62.     robot.get_front_middle_laser()
63.     stop = robot.get_front_middle_laser()
64.     if stop > 0.09:
65.         while not 0.105 > stop > 0.09:
66.             robot.get_front_middle_laser()
67.             stop = robot.get_front_middle_laser()
68.             print(stop)
69.             robot.set_left_wheel_speed(9)
70.             robot.set_right_wheel_speed(9)
71.             robot.sleep(0.1)
72.
73.     robot.set_wheels_speed(0)
74.     return False
75.
76.
77. if __name__ == '__main__':
78.     find_object()
RAW Paste Data
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.

Top