8. APP - Follow

In this project, Pico-4wd car will follow the object in front of it. For example, if you put your hand in front of Pico 4WD, it will rush towards your hand. And it will also play the advantage of sonar scanning, will judge your hand position and then adjust the forward direction.

Quick User Guide

1. Run the app_9_avoid.py file under the pico_4wd_car\examples\app_control path and then power on the Pico 4WD car.

2. As shown below, create a controller that adds Radar, Number, and Button widgets to the D, J, and P areas, respectively.

   

3. After saving () and connecting () the controller, click to run it.

4. The car will follow your hand forward when you toggle the Switch widget in the P area to ON.

How it works?

1. In on_receive(data), the distances and angles are sent to the D and J areas for showing, then responding to the data from the P area.

   def on_receive(data):
       global mode
   
       ''' if not connected, skip & stop '''
       if not ws.is_connected():
           return
   
       ''' data to display'''
       # # sonar and distance
       ws.send_dict['D'] = [sonar_angle, sonar_distance]
       ws.send_dict['J'] = sonar_distance
   
       # mode select:
       if 'P' in data.keys() and data['P'] == True:
           if mode != 'follow':
               mode = 'follow'
               print(f"change mode to: {mode}")
       else:
           if mode != None:
               mode = None
               print(f"change mode to: {mode}")
   

2. Write the follow() and get_dir() functions to make the car go in a different direction based on the sonar detection.

   Note

   The explanation of the get_dir() function can be found in 3. Objects Follow.

   '''------- get_dir (sonar sacn data to direction) ---------------------'''
   def get_dir(sonar_data, split_str="0"):
       # get scan status of 0, 1
       sonar_data = [str(i) for i in sonar_data]
       sonar_data = "".join(sonar_data)
   
       # Split 0, leaves the free path
       paths = sonar_data.split(split_str)
   
       # Calculate where is the widest
       max_paths = max(paths)
       if split_str == "0" and len(max_paths) < 4:
           return "left"
       elif split_str == "1" and len(max_paths) < 2:
           return "stop"
   
       # Calculate the direction of the widest
       pos = sonar_data.index(max_paths)
       pos += (len(max_paths) - 1) / 2
       delta = len(sonar_data) / 3
       if pos < delta:
           return "left"
       elif pos > 2 * delta:
           return "right"
       else:
           return "forward"
   
   '''----------------- follow ---------------------'''
   def follow():
       global sonar_angle, sonar_distance
   
       sonar.set_sonar_scan_config(FOLLOW_SCAN_ANGLE, FOLLOW_SCAN_STEP)
       sonar.set_sonar_reference(FOLLOW_REFERENCE)
   
       #--------- scan -----------
       sonar_angle, sonar_distance, sonar_data = sonar.sonar_scan()
       # time.sleep(0.02)
   
       # If sonar data return a int, means scan not finished, and the int is current angle status
       if isinstance(sonar_data, int):
           return
   
       #---- analysis direction -----
       direction = get_dir(sonar_data, split_str='1')
   
       #--------- move ------------
       if direction == "left":
           car.move("left", FOLLOW_TURNING_POWER)
       elif direction == "right":
           car.move("right", FOLLOW_TURNING_POWER)
       elif direction == "forward":
           car.move("forward", FOLLOW_FORWARD_POWER)
       else:
           car.move("stop")
   

3. In remote_handler() function, the follow() function will be called if the follow mode is turned on, otherwise the car is stopped.

   def remote_handler():
   
       ''' follow hand '''
       if mode == 'follow':
           follow()
   
       ''' no operation '''
       if mode == None:
           car.move('stop')