Python • IR sensor obstacle avoidance robot.

Hello,

Below is the code I've been working on for awhile. But the robot won't even run. I have it hooked up to a Raspberry Pi Pico along with a L293D 4 channel motor controller. I was wondering if there was something wrong with the code. Or how I have it set up? The skeleton of it i got off Google.

Note: the sensor is the blue flying fish sensor, setup by blueprint attached, just without led. The drive controller in the other picture was set up in that manner just without the fly time sensor. The sensor lights turn on and register obstacles.

Reference setup blue prints:
https://www.coderdojotc.org/micropython ... -base-bot/
https://diyprojectslab.com/ir-sensor-wi ... icropytho/


# Define the IR sensor pin

ir_sensor_pin = 16 # Replace with your actual pin number

from machine import Pin, PWM

from utime import sleep


power_level= 35000
# Define pins

ir_sensor_pin = Pin(16, Pin.IN) # Replace with your IR sensor pin

motor_left_forward = Pin(18, Pin.OUT) # Replace with left motor forward pin

motor_left_backward = Pin(19, Pin.OUT) # Replace with left motor backward pin

motor_right_forward = Pin(20, Pin.OUT) # Replace with right motor forward pin

motor_right_backward = Pin(21, Pin.OUT) # Replace with right motor backward pin

motor_left_forward = PWM(Pin(motor_left_forward))
motor_left_backward = PWM(Pin(motor_left_backward))
motor_right_forward = PWM(Pin(motor_right_forward))
motor_right_backwards = PWM(Pin(motor_right_backward))

def turn_motor_on(pwm):
pwm.duty_u16(power_level)

def turn_motor_off(pwm):
pwn.duty_u16(0)



def stop_motors():

motor_left_forward.value(0)

motor_left_backward.value(0)

motor_right_forward.value(0)

motor_right_backward.value(0)



def move_forward():

motor_left_forward.value(1)

motor_left_backward.value(0)

motor_right_forward.value(1)

motor_right_backward.value(0)



def turn_right():

motor_left_forward.value(1)

motor_left_backward.value(0)

motor_right_forward.value(0)

motor_right_backward.value(1)



def turn_left():

motor_left_forward.value(0)

motor_left_backward.value(1)

motor_right_forward.value(1)

motor_right_backward.value(0)



while True:

if ir_sensor_pin.value() == 0: # Obstacle detected

stop_motors()

# Optional: Implement turning maneuver based on your robot design

# turn_right()

# time.sleep(0.5)

else: # No obstacle

move_forward()

time.sleep(0.1) # Adjust delay as needed


time.sleep(0.1) # Add a small delay for stability

Statistics: Posted by Jweld1117 — Thu Oct 17, 2024 7:28 pm

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