/
smars.py
99 lines (80 loc) · 2.84 KB
/
smars.py
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# SMARS class
from vl53l0x import VL53L0X
from machine import Pin
from time import sleep
class SMARS():
name = ""
def __init__(self, i2c, name = None, in1=None, in2=None, in3=None, in4=None):
if in1 or in2 or in3 or in4 == None:
in1 = 3 # Motor A Direction Input 1 1423
in2 = 2 # Motor A Speed Input 2
in3 = 0 # Motor B Direction Input 3
in4 = 1 # Motor B Speed Input 4
# Set the motor inputs on the L293D Motor Driver board
self.motor_A_forward = Pin(in1, Pin.OUT)
self.motor_A_reverse = Pin(in2, Pin.OUT)
self.motor_B_forward = Pin(in3, Pin.OUT)
self.motor_B_reverse = Pin(in4, Pin.OUT)
if not name:
self.name = "PicoSMARS"
else:
self.name = name
self.i2c = i2c
if self.i2c.scan() == []:
raise RuntimeError("The Range Finder could not be found on the I2C bus, check your connections")
pass
self.range_finder = VL53L0X(i2c=i2c)
def forward(self):
# Make the robot go forward for half a second
self.motor_A_forward.high()
self.motor_A_reverse.low()
self.motor_B_forward.low()
self.motor_B_reverse.high()
sleep(0.5)
self.motor_A_forward.low()
self.motor_A_reverse.low()
self.motor_B_forward.low()
self.motor_B_reverse.low()
def backward(self):
# Make the robot go backward for half a second
self.motor_A_forward.low()
self.motor_A_reverse.high()
self.motor_B_forward.high()
self.motor_B_reverse.low()
sleep(0.5)
self.motor_A_forward.low()
self.motor_A_reverse.low()
self.motor_B_forward.low()
self.motor_B_reverse.low()
def turnleft(self):
# Make the robot turn left for half a second
self.motor_A_forward.low()
self.motor_A_reverse.high()
self.motor_B_forward.low()
self.motor_B_reverse.high()
sleep(0.5)
self.motor_A_forward.low()
self.motor_A_reverse.low()
self.motor_B_forward.low()
self.motor_B_reverse.low()
def turnright(self):
# Make the robot turn right for half a second
self.motor_A_forward.high()
self.motor_A_reverse.low()
self.motor_B_forward.high()
self.motor_B_reverse.low()
sleep(0.5)
self.motor_A_forward.low()
self.motor_A_reverse.low()
self.motor_B_forward.low()
self.motor_B_reverse.low()
def stop(self):
self.motor_A_forward.low()
self.motor_A_reverse.low()
self.motor_B_forward.low()
self.motor_B_reverse.low()
@property
def distance(self):
# Returns the distance in cmm
distance_to_object = (self.range_finder.ping() / 10) - 5
return distance_to_object