CODEWITHSUNDEEP
pythonroboticsmyro
user3577397
user3577397

Reputation: 473

Myro programming - Making robot stop when it sees and obstacle

I'm using a scribbler robot and writing code in Python. I'm trying to get it to stop when it sees an obstacle

So I created variables for the left obstacle sensor, the center obstacle sensor and the right obstacle sensor

    left = getObstacle(0)
    center = getObstacle(1)
    right = getObstacle(2)

Then an if statement

if (left < 6400 & center < 6400 & right < 6400):
        forward(1,1)
    else:
        stop()

Basically the idea is if the sensors read less than 6400, it should move forward, otherwise, it should stop. When testing the scribbler with the senses function, I noticed when I put the robot close to an object, it would read around 6400.

Here's what I have for the main() code

def main():
      while True: 
        left = getObstacle(0)
        center = getObstacle(1)
        right = getObstacle(2)
        lir = getIR(0)
        rir = getIR(1)
    if (left < 6400 & center < 6400 & right < 6400):
        forward(1,1)
    else:
        stop()

Why isn't my robot responding? The Python code doesn't show any errors when I put it into the shell, but nothing is happening with my robot.

EDIT:

Some code changes. So far the robot will move, but it won't stop. Are my if and else statements incorrect?

center = getObstacle(1)
def main():


    if (center < 5400):
        forward(0.5)
    else:
        stop()

Upvotes: 0

Views: 3100

Answers (2)

quamrana
quamrana

Reputation: 39354

It sounds like you were close with your original code:

def main():
    while True: 
        left = getObstacle(0)
        center = getObstacle(1)
        right = getObstacle(2)
        #lir = getIR(0)
        #rir = getIR(1)
        if (left < 6400 and center < 6400 and right < 6400):
            forward(1, 0.1)
        else:
            stop()
            break

This loop both measures left, center and right and performs the comparisons each time round the loop. I have modified the call to forward to only move for one tenth of a second before making more measurements. Also when the condition is not satisfied both the robot and the loop are stopped.

btw it seems you don't use lir and rir.

Upvotes: 0

Dica
Dica

Reputation: 165

& is the Bitwise operator

and is the logical AND operator

So your condition should be :

if (left < 6400 and center < 6400 and right < 6400):
    forward(1,1)
else:
    stop()

Upvotes: 0

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