Autonomous-Bot/remote.py at master · mana5aS/Autonomous-Bot · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
#Libraries
import RPi.GPIO as GPIO
import time
import pigpio
import numpy as np

#GPIO Mode (BOARD / BCM)
GPIO.setmode(GPIO.BCM)

#Ultrasonic
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)

TRIG = 17   #3
ECHO = 27   #4
maxTime = 0.04
minDistance = 10

#Servo
pi = pigpio.pi()
pi.set_mode(2, pigpio.OUTPUT)
pi.get_mode(2)

#Motor A and C
in1 = 24
in2 = 23
enA = 25

#Motor B and D
in3 = 18
in4 = 15
enB = 14

#Motors
GPIO.setup(in1,GPIO.OUT)
GPIO.setup(in2,GPIO.OUT)
GPIO.setup(enA,GPIO.OUT)

GPIO.setup(in3,GPIO.OUT)
GPIO.setup(in4,GPIO.OUT)
GPIO.setup(enB,GPIO.OUT)

GPIO.output(in1,GPIO.LOW)
GPIO.output(in2,GPIO.LOW)
GPIO.output(in3,GPIO.LOW)
GPIO.output(in4,GPIO.LOW)


pA=GPIO.PWM(enA,100)
pB=GPIO.PWM(enB,100)

pA.start(100)
pB.start(100)

def goForward():
	GPIO.output(in1,GPIO.HIGH)
	GPIO.output(in2,GPIO.LOW)
	GPIO.output(enA,GPIO.HIGH)

	GPIO.output(in3,GPIO.HIGH)
	GPIO.output(in4,GPIO.LOW)
	GPIO.output(enB,GPIO.HIGH)

def goBack():
	GPIO.output(in1,GPIO.LOW)
	GPIO.output(in2,GPIO.HIGH)
	GPIO.output(enA,GPIO.HIGH)

	GPIO.output(in3,GPIO.LOW)
	GPIO.output(in4,GPIO.HIGH)
	GPIO.output(enB,GPIO.HIGH)

def pivotLeft():
	GPIO.output(in1,GPIO.LOW)
	GPIO.output(in2,GPIO.HIGH)
	GPIO.output(enA,GPIO.HIGH)

	GPIO.output(in3,GPIO.HIGH)
	GPIO.output(in4,GPIO.LOW)
	GPIO.output(enB,GPIO.HIGH)

	time.sleep(leftTurnTime)

def pivotRight():
	GPIO.output(in1,GPIO.HIGH)
	GPIO.output(in2,GPIO.LOW)
	GPIO.output(enA,GPIO.HIGH)

	GPIO.output(in3,GPIO.LOW)
	GPIO.output(in4,GPIO.HIGH)
	GPIO.output(enB,GPIO.HIGH)

	time.sleep(rightTurnTime)

def stop():
	GPIO.output(in1,GPIO.LOW)
	GPIO.output(in2,GPIO.LOW)
	GPIO.output(enA,GPIO.HIGH)

	GPIO.output(in3,GPIO.LOW)
	GPIO.output(in4,GPIO.LOW)
	GPIO.output(enB,GPIO.HIGH)

def getDistance():
	GPIO.setup(TRIG,GPIO.OUT)
	GPIO.setup(ECHO,GPIO.IN)
	GPIO.output(TRIG,False)
	time.sleep(0.01)
	GPIO.output(TRIG,True)
	time.sleep(0.00001)
	GPIO.output(TRIG,False)
	pulse_start = time.time()
	timeout = pulse_start + maxTime
	while GPIO.input(ECHO) == 0 and pulse_start < timeout:
		pulse_start = time.time()
	pulse_end = time.time()
	timeout = pulse_end + maxTime
	while GPIO.input(ECHO) == 1 and pulse_end < timeout:
		pulse_end = time.time()
	pulse_duration = pulse_end - pulse_start
	distance = pulse_duration * 17000
	distance = round(distance, 2)
	return  distance

def lookLeftAndRight():
	pi.set_servo_pulsewidth(2, 600)  #right
	pi.get_servo_pulsewidth(2)
	time.sleep(2)

	pi.set_servo_pulsewidth(2, 1500)  #mid
	pi.get_servo_pulsewidth(2)
	time.sleep(2)

	pi.set_servo_pulsewidth(2, 2300) #left
	pi.get_servo_pulsewidth(2)
	time.sleep(2)

	pi.set_servo_pulsewidth(2, 1500)  #mid
	pi.get_servo_pulsewidth(2)

minDistance = 10
forwardRange = 80
rightTurnTime = 0.78
leftTurnTime = 0.8

if __name__ == '__main__':

	while(True):
		stop()
		count = 0
		direction = input("enter direction: ").upper()

		if direction == "W":
			for _ in range(forwardRange):
				if getDistance() < 10:
					count += 1
				if count == 3:
					stop()
					print("Obstruction Detected")
				goForward()
		elif direction == "A":
		 	pivotLeft()
		elif direction == "D":
			pivotRight()
		elif direction == "S":
			lookLeftAndRight()