장애물 피하기 (동작영상)

 

 

 

 

마이크비트와 마퀸이라는 로봇을 조립하여 초음파 센서이용, 장애물 피하기를 구현해 보았다

 

마퀸을 이용한 여러가지 실습을 먼저 해보고 나서 중요한 포인트들을 차차 포스팅 하도록 하겠다

 

 

 

(....작성중....)

 

 

 

 

Ultrasonic Obstacle-avoiding

• Effect: Ultrasonic detects the distance between the car and the obstacle in front of it. If the distance is less than 35cm, the car will randomly choose to turn left or right to avoid obstacles.
• Fittings: SR04 Ultrasonic Module x 1 or SR04-P Ultrasonic Module x 1

image by https://wiki.dfrobot.com/micro_Maqueen_for_micro_bit_SKU_ROB0148-E

 

let item = false
basic.forever(function () {
    if (maqueen.sensor(PingUnit.Centimeters) < 35 && maqueen.sensor(PingUnit.Centimeters) != 0) {
        item = Math.randomBoolean()
        if (item == true) {
            maqueen.MotorRun(maqueen.aMotors.M1, maqueen.Dir.CW, 255)
            maqueen.MotorRun(maqueen.aMotors.M2, maqueen.Dir.CW, 0)
            basic.pause(800)
        }
        if (item == false) {
            maqueen.MotorRun(maqueen.aMotors.M1, maqueen.Dir.CW, 0)
            maqueen.MotorRun(maqueen.aMotors.M2, maqueen.Dir.CW, 255)
            basic.pause(800)
        }
    } else {
        maqueen.MotorRun(maqueen.aMotors.M1, maqueen.Dir.CW, 255)
        maqueen.MotorRun(maqueen.aMotors.M2, maqueen.Dir.CW, 255)
    }
})

function 장애물_피하기 () {
    maqueen.motorRun(maqueen.Motors.M2, maqueen.Dir.CW, 255)
    maqueen.motorRun(maqueen.Motors.M1, maqueen.Dir.CCW, 255)
    basic.pause(randint(200, 500))
}
input.onButtonPressed(Button.A, function () {
    트리거 = 1
    maqueen.motorRun(maqueen.Motors.All, maqueen.Dir.CW, 255)
})
input.onButtonPressed(Button.B, function () {
    basic.showIcon(IconNames.SmallSquare)
    트리거 = 0
    maqueen.motorStop(maqueen.Motors.All)
})
let 트리거 = 0
트리거 = 0
basic.forever(function () {
    if (트리거 == 1) {
        if (maqueen.Ultrasonic(PingUnit.Centimeters) < 5) {
            장애물_피하기()
        } else {
            maqueen.motorRun(maqueen.Motors.All, maqueen.Dir.CW, 255)
        }
    }
})