Question

我有一个当前在pyboard上运行的代码，并且正在与马达护罩adafruit Motorshield v2.3一起使用。我知道大多数超声波传感器在长时间未检测到环境后会超时。我希望我的代码不断搜索周围环境而不是超时。该机器人应在大范围内行驶，直到到达周围并重定向。下面是我的代码。（忽略代码中的注释。像开关一样。当我还在测试时使用了这些注释）

谢谢！

i2c = machine.I2C(scl=machine.Pin('Y9'), sda=machine.Pin('Y10'))
motors = motor.DCMotors(i2c)
MOTOR1 = 2
MOTOR2 = 3
#Initiate Trigger and Echo Pin from Ultrasonic sensor
TRIGGER_PIN =pyb.Pin.board.X9
ECHO_PIN = pyb.Pin.board.X10
#Initiate Communication from Sonar sensor
sensor = Ultrasonic (TRIGGER_PIN, ECHO_PIN)
#Create minimum distance For Ultrasonic sensor
min_distance = sensor.distance_in_cm()
print("min_distance= ",min_distance)
#button = pyb.switch()
#def autonomy()
#no_problem = True
try:
    while (True):
    #if (button()):
        min_distance = sensor.distance_in_cm()
        #sensor_front = sensor.distance_in_cm(15)
        if min_distance >= 70:
            print(min_distance)
            motors.speed(MOTOR1, -3500)
            motors.speed(MOTOR2, -3500)
            # motors.speed(MOTOR1, 3500)
            # motors.speed(MOTOR2,-3500)

            #if something is in the way
        else:
            print(min_distance)
            motors.speed(MOTOR1, 0)
            motors.speed(MOTOR2, 0)
            time.sleep_us(10)
            #Turn around
            print("Do the pivot shuffle.")

            motors.speed(MOTOR1, 3500)
            motors.speed(MOTOR2, -3500)
            time.sleep_us(10)
        print(min_distance)
        time.sleep_us(10)

except KeyboardInterrupt:
    pass

Answer 1

如果超时，则距离可能会大于传感器可以测量的距离。您可以在使用的超声波库中阅读：默认超时时间比HC-SR04的最大距离（400厘米）多一点

来源： https://github.com/skgsergio/MicropythonLibs/blob/master/Ultrasonic/ultrasonic.py

HCSR04传感器持续产生超时错误。希望循环无超时运行

1 个答案: