diff options
| -rw-r--r-- | robot/main.py | 5 |
1 files changed, 4 insertions, 1 deletions
diff --git a/robot/main.py b/robot/main.py index 9d789f8..dadde2d 100644 --- a/robot/main.py +++ b/robot/main.py @@ -23,11 +23,12 @@ client = MQTTClient(MQTT_ClientID, MQTT_Broker, 1883) ev3 = EV3Brick() left_motor = Motor(Port.B) right_motor = Motor(Port.C) -bob = DriveBase(left_motor, right_motor, wheel_diameter = 54, axle_track = 105) +bob = DriveBase(left_motor, right_motor, wheel_diameter = 54, axle_track = 121) UltraSensor = UltrasonicSensor(Port.S4) get_tick_rate = 0.1 send_tick_rate = 0.5 sensitivity = 400 +safe_distance = 150 ultraSend = [False] @@ -58,6 +59,8 @@ def sendUltra() : dist = UltraSensor.distance() if (dist < sensitivity): publish(dist) + if (dist < safe_distance) : + bob.stop() # MQTT connection |