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Alphabot2-Lab/Ultrasonic_Obstacle_Avoidance.py

+import RPi.GPIO as GPIO
+import time
+from AlphaBot2 import AlphaBot2
+
+TRIG = 22
+ECHO = 27
+
+Ab = AlphaBot2()
+
+GPIO.setmode(GPIO.BCM)
+GPIO.setwarnings(False)
+GPIO.setup(TRIG,GPIO.OUT,initial=GPIO.LOW)
+GPIO.setup(ECHO,GPIO.IN)
+
+def Distance():
+	GPIO.output(TRIG,GPIO.HIGH)
+	time.sleep(0.000015)
+	GPIO.output(TRIG,GPIO.LOW)
+	while not GPIO.input(ECHO):
+		pass
+	t1 = time.time()
+	while GPIO.input(ECHO):
+		pass
+	t2 = time.time()
+	return (t2-t1)*34000/2
+	
+print("Ultrasonic_Obstacle_Avoidance")
+try:
+	while True:
+		Dist = Distance()
+		print("Distance = %0.2f cm"%Dist)
+		if Dist <= 20:
+			Ab.right()
+#			Ab.left()
+		else:
+			Ab.forward()
+		time.sleep(0.02)
+
+except KeyboardInterrupt:
+	GPIO.cleanup();