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])
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 toalert_distance
(the threshold value set earlier, which is 10), play the sound effectsign.wav
. PiSloth doeshook
,stand
,left turn
andstand
in sequence.When the
distance
is greater thanalert_distance
, PiSloth will moveforward
.
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)
Note
You can add different sound effects or music to musics
or sounds
folder via Filezilla Software.