附件是将机器人移动到特定距离的代码,但我希望它在接近和障碍时停止移动。我该怎么做呢?我试过添加超声波来检测障碍物。我正在使用nxt-python
def move_to(brick, bx, by ,rx, ry):
wheel_circumference = (pi * wheel_diameter)
distance_per_turn = (wheel_circumference / 360)
distance = math.sqrt((math.pow((bx - rx),2)) + (math.pow((by - ry),2)))
rotations = ((distance / distance_per_turn) / 360)
tacho_units = (round((rotations) * 360))
both.turn(power=power, tacho_units=tacho_units, brake=False)
if(ultrasonic.get_sample() < 20):
both.brake()
def activate2():
update_coordinates()
bx,by = get_ballxy()
rx,ry,a = get_robotxya()
if(ultrasonic.get_sample() < 15):
both.turn(power=-65, tacho_units=380, brake= False)
time.sleep(1)
turn_to(brick,bx,by,rx,ry,a)
time.sleep(0.5)
move_to(brick,bx,by,rx,ry)
kickBall(brick,by,ry)
Thread(target=update_coordinates).start()
connect()
update_coordinates()
while True:
#activate()
activate2()
time.sleep(3)
答案 0 :(得分:1)
您的问题是在机器人移动后只检查障碍物
。both.turn(power=power, tacho_units=tacho_units, brake=False)
# the turn function blocks, so this check comes to late
if(ultrasonic.get_sample() < 20):
both.brake()
你应该在另一个线程中不断检查障碍。
让事情变得简单,你可以稍微调整一下nxc-python。
将turn
中BaseMotor
的{{1}}方法更改为
motor.py
并将以下代码添加到该方法的def turn(self, power, tacho_units, brake=True, timeout=1, emulate=True, cancel_when=None):
循环中:
while
然后您可以轻松地将代码编写为:
while True:
# these lines are new
if cancel_when and cancel_when():
break