Obstacle AvoidanceΒΆ

In this project, picrawler will use an ultrasonic module to detect obstacles in front. When PiCrawler detects an obstacle, it will send a signal and look for another direction to move forward.

../_images/avoid1.png

Program

Note

  • You can write the program according to the following picture, please refer to the tutorial: How to Create a New Project?.

  • Or find the code with the same name on the Examples page of the EzBlock Studio and click Run or Edit directly.

../_images/avoid.png

How it works?

You can find the following blocks in the Module category to achieve distance detection:

../_images/sp210928_103046.png

It should be noted that the two pins of the block should correspond to the actual wiring, that is, trig-D2, echo-D3.

Here is the main program.

  • Read the distance detected by ultrasonic module and filter out the values less than 0 (When the ultrasonic module is too far from the obstacle or cannot read the data correctly, distance<0 will appear).

  • When the distance is less than alert_distance (the threshold value set earlier, which is 10), play the sound effect sign.wav. PiCrawler does turn left .

  • When the distance is greater than alert_distance, PiCrawler will move forward.