Line Track¶
Let Pico-4wd walk on its exclusive avenue! Use 1cm of black insulating tape to paste a track on a light-colored ground (or desktop). Run this program, and you will see Pico-4wd sprinting into the track.
Warning
In sharp bend will cause derailment!
There are some small eggs in this program: When the Pico-4wd is going straight, the tail light (the RGB Board at the tail) will light up in green; when turning, the side of the tail light will light up in yellow; when turning sharply, the side of the tail light will light up in red.
Code¶
Note
Open the
line_track.py
file under the path ofpico_4wd_car\examples
or copy this code into Thonny, then click “Run Current Script” or simply press F5 to run it.Don’t forget to click on the “MicroPython (Raspberry Pi Pico)” interpreter in the bottom right corner.
For detailed tutorials, please refer to Open and Run Code Directly.
import pico_4wd as car
MOTOR_POWER = 100
car.GRAYSCALE_LINE_REFERENCE = 10000
def main():
while True:
gs_data = car.get_greyscale_status()
if gs_data == [0, 1, 0]:
car.set_motor_power(MOTOR_POWER, MOTOR_POWER, MOTOR_POWER, MOTOR_POWER)
car.set_light_bottom_color([0, 100, 0])
elif gs_data == [0, 1, 1]:
car.set_motor_power(MOTOR_POWER, 0, MOTOR_POWER, 0)
car.set_light_off()
car.set_light_bottom_left_color([50, 50, 0])
elif gs_data == [0, 0, 1]:
car.set_motor_power(MOTOR_POWER, -MOTOR_POWER, MOTOR_POWER, -MOTOR_POWER)
car.set_light_off()
car.set_light_bottom_left_color([100, 5, 0])
elif gs_data == [1, 1, 0]:
car.set_motor_power(0, MOTOR_POWER, 0, MOTOR_POWER)
car.set_light_off()
car.set_light_bottom_right_color([50, 50, 0])
elif gs_data == [1, 0, 0]:
car.set_motor_power(-MOTOR_POWER, MOTOR_POWER, -MOTOR_POWER, MOTOR_POWER)
car.set_light_off()
car.set_light_bottom_right_color([100, 0, 0])
try:
main()
finally:
car.move("stop")
car.set_light_off()
How it Works¶
