v0.0.5

4532-1 - Manual Level Crossing/main_distance_sensor.py

@@ -8,14 +8,22 @@
 # Configuration of the Technic Hub:                                            #
 #   Port A: 45303-1 - WeDo 2.0 Medium Motor                                    #
 #   Port B:                                                                    #
-#   Port C: 88007-1 - Color & Distance Sensor                                  #
+#   Port C: 88007-1 - Color & Distance Sensor or                               #
-#   Port D: 88007-1 - Color & Distance Sensor (not yet implemented)            #
+#           45304-1 - WeDo 2.0 Motion Sensor                                   #
+#   Port D: 88007-1 - Color & Distance Sensor or                               #
+#           45304-1 - WeDo 2.0 Motion Sensor                                   #
 #                                                                              #
 ################################################################################
 #                                                                              #
 #                                   Changelog                                  #
 #                                                                              #
 ################################################################################
+# v0.0.5 08-03-2023                                                            #
+#   Combined distance_sensor_1 and _2 into an array (distance_sensor)          #
+#   Added test for 2 sensor types on port C and D                              #
+#   Changed value of barrier_wait_after                                        #
+#   changed value of detection_distance                                        #
+#   changed value of barrier_wait_up                                           #
 # v0.0.4 01-03-2023                                                            #
 #   Changed value of barrier_wait_up                                           #
 #   Changed barrier_duty_cycle to barrier_duty_cycle_up                        #
@@ -35,26 +43,67 @@
 ################################################################################
 
 from pybricks.hubs import TechnicHub
-from pybricks.pupdevices import Motor, DCMotor, ColorDistanceSensor
+from pybricks.pupdevices import Motor, DCMotor, InfraredSensor, ColorDistanceSensor
 from pybricks.parameters import Color, Port
 from pybricks.tools import wait
+from uerrno import ENODEV
 
 # variables to set
 barrier_duty_cycle_up = 50   # speed of the motor (0-100).
 barrier_duty_cycle_down = 25 # speed of the motor (0-100).
-barrier_wait_up = 750        # Time the barrier needs to go up in ms.
+barrier_wait_up = 1000        # Time the barrier needs to go up in ms.
 barrier_wait_down = 750      # Time the barrier needs to go down in ms.
-barrier_wait_after = 2000    # Time the barrier waits to go up after last detection.
+barrier_wait_after = 1000    # Time the barrier waits to go up after last detection.
-detection_distance = 75      # Max distance for detection (0-100)
+detection_distance = 90      # Max distance for detection (0-100)
 
 # Initialize the hub.
 hub = TechnicHub()
 
 # Initialize a the motor
 barrier_motor = DCMotor(Port.A)
+
 # Initialize the sensors.
-distance_sensor_1 = ColorDistanceSensor(Port.C)
+distance_sensor = []
-#distance_sensor_2 = ColorDistanceSensor(Port.D)
+try:
+    # Try to initialize a infrared sensor sensor on port C.
+    distance_sensor.append(InfraredSensor(Port.C))
+    print("Detected a infrared sensor on port C.")
+except OSError as ex:
+    if ex.errno == ENODEV:
+        print("There is no infrared sensor on port C.")
+    else:
+        print("Another error occurred.")
+
+try:
+    # Try to initialize a color and distance sensor on port C.
+    distance_sensor.append(ColorDistanceSensor(Port.C))
+    print("Detected a color and distance sensor on port C.")
+except OSError as ex:
+    if ex.errno == ENODEV:
+        print("There is no color and distance sensor on port C.")
+    else:
+        print("Another error occurred.")
+
+try:
+    # Try to initialize a infrared sensor sensor on port D.
+    distance_sensor.append(InfraredSensor(Port.D))
+    print("Detected a infrared sensor on port D.")
+except OSError as ex:
+    if ex.errno == ENODEV:
+        print("There is no infrared sensor on port D.")
+    else:
+        print("Another error occurred.")
+
+try:
+    # Try to initialize a color and distance sensor on port D.
+    distance_sensor.append(ColorDistanceSensor(Port.D))
+    print("Detected a color and distance sensor on port D.")
+except OSError as ex:
+    if ex.errno == ENODEV:
+        print("There is no color and distance sensor on port D.")
+    else:
+        print("Another error occurred.")
+
 
 # Make the barrier go down to calibrate the position
 barrier_motor.dc(-barrier_duty_cycle_down)
@@ -73,7 +122,7 @@ barrier_position = 1 # Current barrier position (1=down, 0=up)
 # Start program loop
 while True:
     # Check to see if there is a train.
-    if distance_sensor_1.distance() <= detection_distance:
+    if distance_sensor[0].distance() <= detection_distance or distance_sensor[1].distance() <= detection_distance:
         # Change light color on hub to reflect the current status.
         hub.light.on(Color.RED)
         # Only send the barrier down if it's currently up.
@@ -87,7 +136,7 @@ while True:
             # Set the variable to the up position
             barrier_position = 1
         # As long as there is a train detected keep program within this loop.
-        while distance_sensor_1.distance() <= detection_distance:
+        while distance_sensor[0].distance() <= detection_distance or distance_sensor[1].distance() <= detection_distance:
             wait (10)
         # Set the number of while cycles to wait before sending the barrier up after last detection.
         wait_cycles = barrier_wait_after
@@ -112,7 +161,7 @@ while True:
             # Set the variable to the up position
             barrier_position = 0
         # As long as there is no train detected keep program within this loop.
-        while distance_sensor_1.distance() > detection_distance:
+        while distance_sensor[0].distance() > detection_distance and distance_sensor[1].distance() > detection_distance:
             wait (10)
     # wait for 1ms before continuing.
     wait(1)