MakeBlock-UltraSonicSensor

This passion project by the students My Nguyen, Thai Le, Phu Le and Triet Do. They applied for the SAMK robot competition 2022.

SAMK Competition

More about the competition of the SATAKUNTA UNIVERSITY OF APPLIED SCIENCES (SAMK) and this competition:

https://www.samk.fi/en/education/master-robot-builders/

Stage 1: May 10th, 2022

We submitted the first version of our robot on May 9th and was one of the 17 teams (out of 78) to be selected to the finals. A video about this project can be found on YouTube

Final round: May 20th, 2022

We have to wait for the outcome.

Build

And that is how it looks like:

Code

The program was running on the Raspberry Pi in python, addressing the MegaPi via serial interface. For transportation the megapi library was imported, for audio output the pygame library.

This is the final code from May 17th for the final round in this competition:

from megapi import *
import time
import pygame
import RPi.GPIO as GPIO

announce = time.time()
turning = time.time()
distance = 123

# -=Function=-
def Forward(port, speed):
	sleep(0.4)
	bot.encoderMotorRun(port,-speed)

def Backward(port, speed):
	bot.encoderMotorRun(port, speed)

def Left(port, speed, dist):
	bot.encoderMotorMove(port, speed, dist, Forward)

# -=UltrasonicSensor=-
def UltraSonic(port):
	global distance
	distance = port
	print(distance)

# -=SoundPlay=-
def SoundPlay(SoundFile):
	SoundList = ["Ms C.mp3", "Mr Williams.mp3", "beep.mp3"] # Ms. C = 0 | Mr. W = 1 | beep = 2
	pygame.mixer.init()
	pygame.mixer.music.set_volume(0.2) # Volume: (0 - 1)
	pygame.mixer.music.load(SoundList[SoundFile])
	pygame.mixer.music.play()
	while pygame.mixer.music.get_busy() == False:
		continue

def LightOn(pin):
	GPIO.output(pin, GPIO.HIGH) # Green = 40 | Blue = 36 | Red = 38

def LightOff():
	GPIO.output(36, GPIO.LOW)
	GPIO.output(38, GPIO.LOW)
	GPIO.output(40, GPIO.LOW)

# -=GPIO=-
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)

	# Speaker
speaker_buttonPin1 = 32
speaker_buttonPin2 = 22
GPIO.setup(speaker_buttonPin1, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(speaker_buttonPin2, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(40,GPIO.OUT)
GPIO.setup(38,GPIO.OUT)
GPIO.setup(36,GPIO.OUT)

    # Sound Sensor
sound_sensorPin = 18
GPIO.setup(sound_sensorPin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)

# -=Main=-
if __name__ == '__main__':
	bot = MegaPi()
	bot.start()
	output = 0
	LightOn(40)
	SoundPlay(2)

	while True:
		# -=SET UP=-
		if GPIO.input(speaker_buttonPin1) == GPIO.HIGH:
			output = 1
		
		if GPIO.input(speaker_buttonPin2) == GPIO.HIGH:
			output = 2
			Forward(4, 0)
			Backward(1, 0)

		# -=GO OUT=-
		if output == 1:
			LightOff()
			LightOn(36)
			
			# Sound
			if time.time() - announce > 10:
				announce = time.time()
				SoundPlay(0)
				
			# Measure Distance (Store in "Distance" global variable)
			bot.ultrasonicSensorRead(6,UltraSonic)
			
			# Movement
			if distance < 20:
				turning = time.time() + 3.5
			
			if (turning - time.time()) > 0:
				# turn
				Left(4, 50, 150)
				Backward(1, 0)
			
			else:
				# drive straight
				Forward(4, 50)
				Backward(1, 50)
		
		# -=BE QUIET=-
		elif output == 2:
			LightOff()
			LightOn(38)
			Forward(4, 0)
			Backward(1, 0)
			if GPIO.input(sound_sensorPin) == GPIO.HIGH:
				SoundPlay(1)
		
		else:
			pass

Remarks