Welcome to Raspbot V2 repository

1.Infrared patrol car

1. Learning objectives

By combining the four-way line patrol module with the car, the car can patrol the black line.

2. Experimental preparation

1. The car wiring has been installed
2. Debug the four-way patrol module. Adjust the knob of the four-way tracking module so that the indicator light is on when encountering a black line; when it is not a black line, the indicator light is off.

3. Implementation principle

When detecting tracks of different shapes, the status of the four-way patrol sensor is as shown in the figure below. Control the car to perform different movements according to the sensor status.

4. Code Analysis

Source code path:

/home/pi/project_demo/05.Comprehensive_gameplay/1.infrared_patrol_line.ipynb

​x
import sys
sys.path.append('/home/pi/project_demo/lib')
#Import Mecanum Car Driver Library
from McLumk_Wheel_Sports import *

speed =30#30
try:
while True:
# Read line sensor data from I2C
track_data = bot.read_data_array(0x0a, 1)
track = int(track_data[0])

# Analyze the status of the line patrol sensor
x1 = (track >> 3) & 0x01
x2 = (track >> 2) & 0x01
x3 = (track >> 1) & 0x01
x4 = track & 0x01
"""
X2 X1 X3 X4
| | | |
L1 L2 R1 R2
"""
lineL1=x2
lineL2=x1
lineR1=x3
lineR2=x4

if lineL1 == 0 and lineL2 == 0 and lineR1 == 0 and lineR2 == 0: # All black, speed up
print("1")
print(lineL1,lineL2,lineR1,lineR2)
move_forward(int(speed))
elif( (lineL2 == 0 or lineL1 == 0) and lineR2 == 0):#Right acute angle: right big bend, 0 means black line is detected
print("2")
print(lineL1,lineL2,lineR1,lineR2)
rotate_right(speed)
time.sleep(0.05)
elif lineL1 == 0 and (lineR2 == 0 or lineR1 == 0): # Left sharp angle or left sharp bend
print("3")
print(lineL1,lineL2,lineR1,lineR2)
rotate_left(int(speed*1.5)) # Sharp left turn
time.sleep(0.15)
elif lineL1 == 0: # Left outermost detection
print("4")
print(lineL1,lineL2,lineR1,lineR2)
rotate_left(speed) # Sharp left turn
time.sleep(0.02)
elif lineR2 == 0: # Right outermost detection
print("5")
print(lineL1,lineL2,lineR1,lineR2)
rotate_right(speed)
time.sleep(0.01)
elif lineL2 == 0 and lineR1 == 1: # The sensor on the middle black line fine-tunes the car to turn left
print("6")
print(lineL1,lineL2,lineR1,lineR2)
rotate_left(int(speed)) # Turn left
elif lineL2 == 1 and lineR1 == 0: # The sensor on the middle black line fine-tunes the car to turn right
print("7")
print(lineL1,lineL2,lineR1,lineR2)
rotate_right(int(speed)) # Turn right
elif lineL2 == 0 and lineR1 == 0: # All black, speed up
print("8")
print(lineL1,lineL2,lineR1,lineR2)
move_forward(speed)

# Wait for a while before the next test
time.sleep(0.01)

except KeyboardInterrupt:
# Ensure that all motors stop when the user interrupts the program
stop()
print("Ending")

5. Experimental results

We put the car on the patrol track and confirmed that the module knob has been adjusted. When it encounters a black line, the indicator light is on, and when it is not a black line, the indicator light is off. After running the code block, the car will patrol the black line.