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v0.0.5

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Michel
2023-08-03 21:20:29 +01:00
parent 5c6815223a
commit 0e29865bd2
1 changed files with 60 additions and 11 deletions
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4532-1 - Manual Level Crossing/main_distance_sensor.py
+60 -11
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@@ -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 D: 88007-1 - Color & Distance Sensor (not yet implemented) #
# Port C: 88007-1 - Color & Distance Sensor or #
# 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.
detection_distance = 75 # Max distance for detection (0-100)
barrier_wait_after = 1000 # Time the barrier waits to go up after last detection.
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_2 = ColorDistanceSensor(Port.D)
distance_sensor = []
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)