Michel/lego-pybricks-collection
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v0.0.4

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Michel
2023-01-03 22:33:32 +01:00
parent 6c43765011
commit 5c6815223a
1 changed files with 18 additions and 11 deletions
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4532-1 - Manual Level Crossing/main_distance_sensor.py
+18 -11
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@@ -16,6 +16,11 @@
# Changelog #
# #
################################################################################
# v0.0.4 01-03-2023 #
# Changed value of barrier_wait_up #
# Changed barrier_duty_cycle to barrier_duty_cycle_up #
# Added variable barrier_duty_cycle_down #
# Added variable detection_distance #
# v0.0.3 22-02-2023 #
# Changed values of barrier_duty_cycle, barrier_wait_up & barrier_wait_up #
# v0.0.2 06-02-2023 #
@@ -35,10 +40,12 @@ from pybricks.parameters import Color, Port
from pybricks.tools import wait
# variables to set
barrier_duty_cycle = 50 # speed of the motor (0-100).
barrier_wait_up = 500 # Time the barrier needs to go up in ms.
barrier_wait_down = 400 # Time the barrier needs to go down in ms.
barrier_wait_after = 2000 # Time the barrier waits to go up after last detection.
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_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)
# Initialize the hub.
hub = TechnicHub()
@@ -50,7 +57,7 @@ distance_sensor_1 = ColorDistanceSensor(Port.C)
#distance_sensor_2 = ColorDistanceSensor(Port.D)
# Make the barrier go down to calibrate the position
barrier_motor.dc(-barrier_duty_cycle)
barrier_motor.dc(-barrier_duty_cycle_down)
# Wait for the amount of time set with "barrier_wait_down" plus an extra amount for calibration.
wait(barrier_wait_down+100)
# Stop the motor.
@@ -66,13 +73,13 @@ 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() <= 40:
if 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.
if barrier_position == 0:
# Send barrier down.
barrier_motor.dc(-barrier_duty_cycle)
barrier_motor.dc(-barrier_duty_cycle_down)
# wait for the barrier to move to its position.
wait(barrier_wait_down)
# Stop the barrier from moving after the wait time.
@@ -80,7 +87,7 @@ 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() <= 40:
while 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
@@ -96,8 +103,8 @@ while True:
hub.light.on(Color.GREEN)
# Only send the barrier up if it's currently down.
if barrier_position == 1:
# Send barrier down.
barrier_motor.dc(barrier_duty_cycle)
# Send barrier up.
barrier_motor.dc(barrier_duty_cycle_up)
# wait for the barrier to move to its position.
wait(barrier_wait_up)
# Stop the barrier from moving after the wait time.
@@ -105,7 +112,7 @@ 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() > 40:
while distance_sensor_1.distance() > detection_distance:
wait (10)
# wait for 1ms before continuing.
wait(1)