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Ultraschallsensor

Ultraschallbibliothek

Speichere diesen Code auf dem Pico unter dem Namen "ultrasonic.py".

from machine import Pin
from time import sleep
import utime

class Ultra:
    '''This class manages the ultrasonic sensor. It returns the distance to an obstacle in cm. '''
    def __init__(self, pinNo):
        self.trigger = Pin(pinNo, Pin.OUT) # to trigger a sound impulse
        self.echo = Pin(pinNo+1, Pin.IN) # records the echo of the trigger pulse      

    def get_dist(self):
        '''This returns the measured distance in cm. (float)'''
        timepassed = 0
        signalon = 0
        signaloff = 0
        self.trigger.low()
        utime.sleep_us(2)
        self.trigger.high()
        utime.sleep_us(5)
        self.trigger.low()
        while self.echo.value() == 0:
            signaloff = utime.ticks_us()
        while self.echo.value() == 1:
            signalon = utime.ticks_us()
        timepassed = signalon - signaloff
        distance = round((timepassed * 0.0343) / 2, 2)
        # print("The distance from object is ", distance, "cm.") # for debugging purposes uncomment the line.
        utime.sleep_ms(10) # Wait necessary or program halts
        return distance

Beispiel für die Anwendung dieser Bibliothek

Kopiere diesen Code in eine andere Datei auf dem Pico, z. B. „ultratest.py“.

from ultrasonic import Ultra
from utime import sleep, sleep_ms
us = Ultra(16)

while True:
    print(f"gemessene Entfernung: {us.get_dist()} cm.")
    sleep(1)

Zum Fahren siehe Motorsteuerung.

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