Startdatei für den SMARS-Roboter

Kopiere den Code und speichere die Datei als main.py auf dem Pico.

from time import sleep, sleep_ms
import uasyncio as asyncio
from robotlibrary.robot import Robot
################################## Your class definition
class MyRobot(Robot):
    def __init__(self):
        super().__init__(False) # Call the original constructor.
        print("Start MyRobot")
        
    # With this method defined here, the robot will not drive as the speed is not set in this function.
    # This is to illustrate how overwriting works. 
    def set_speed(self,x):
        print(f"Child method set_speed. Value: {x}")
    # Overwrite any methods defined in robot.py here by nameing them exactly as the original with the same parameters. 
        
################################# End of class definition

################################ Begin robot program
# Define functions for your program
async def monitor_dist():
    '''This checks the distance from the ultrasonic sensor continually.
    If the given distance is longer than the measured one, react_to_obstacle() will be called.
    '''
    global distance
    while True:
        if robot.get_dist() < distance:
            react_to_obstacle()
        await asyncio.sleep_ms(100)

def react_to_obstacle():
    '''Do whatever you want to do when an obstacle is detected.
    '''
    global distance
    robot.random_spin(300)
    robot.set_forward(True)
    robot.set_speed(80)
    
async def driving_program():
    robot.set_speed(90)
    while True:
        print("Driving program running.")
        await asyncio.sleep_ms(3000)

async def main():      
    asyncio.create_task(monitor_dist())
    await driving_program()
    
################################# End robot program

################################# Initialize the robot and start the program.
robot = MyRobot()
distance = 20 # Define the distance you want to have. 
if __name__ == "__main__":
    # execute only if run as a script
    try:
        asyncio.run(main())
    from time import sleep, sleep_ms
import uasyncio as asyncio
from robotlibrary.robot import Robot
################################## Your class definition
class MyRobot(Robot):
    def __init__(self):
        super().__init__(False) # Call the original constructor.
        print("Start MyRobot")
        
    # With this method defined here, the robot will not drive as the speed is not set in this function.
    # This is to illustrate how overwriting works. 
    def set_speed(self,x):
        print(f"Child method set_speed. Value: {x}")
        
################################# End of class definition
# Define functions for your program
async def monitor_dist():
    '''This checks the distance from the ultrasonic sensor continually.
    If the given distance is longer than the measured one, react_to_obstacle() will be called.
    '''
    global distance
    while True:
        if robot.get_dist() < distance:
            react_to_obstacle()
        await asyncio.sleep_ms(100)

def react_to_obstacle():
    '''Do whatever you want to do when an obstacle is detected.
    '''
    global distance
    robot.random_spin(300)
    robot.set_forward(True)
    robot.set_speed(80)
    
async def driving_program():
    robot.set_speed(90)
    while True:
        print("Driving program running.")
        await asyncio.sleep_ms(3000)

async def main():      
    asyncio.create_task(monitor_dist())
    await driving_program()
    
        
################################# Initialize the robot and start the program.
robot = MyRobot()
distance = 20 # Define the distance you want to have. 
if __name__ == "__main__":
    # execute only if run as a script
    try:
        asyncio.run(main())
    except Exception as err:
        print(err) # Nötig, um Fehlermeldungen angezeigt zu bekommen.
        r.emergency_stop() # Roboter anhalten, hier ein Beispiel mit der robotlibrary.
        print("Robot stopped") # Damit es ganz deutlich ist.
    except KeyboardInterrupt:
        print("Emergency stop")
        robot.emergency_stop()

################################ END. Don't write anything underneath here.