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Python Robotics: Obstacle Avoidance

Learn how to program a basic robot to detect and avoid obstacles using ultrasonic sensors in Python.

import RPi.GPIO as GPIO
import time

# Define GPIO pins
TRIG = 23
ECHO = 24

def setup():
    GPIO.setmode(GPIO.BCM)
    GPIO.setup(TRIG, GPIO.OUT)
    GPIO.setup(ECHO, GPIO.IN)

def get_distance():
    # Send a 10us pulse to trigger
    GPIO.output(TRIG, True)
    time.sleep(0.00001)
    GPIO.output(TRIG, False)

    # Wait for echo
    while GPIO.input(ECHO) == 0:
        pulse_start = time.time()
    while GPIO.input(ECHO) == 1:
        pulse_end = time.time()

    # Calculate distance in cm
    pulse_duration = pulse_end - pulse_start
    distance = pulse_duration * 17150
    return round(distance, 2)

Scratch Robotics: Line Following Logic

A conceptual block-based approach to programming a robot to follow a black line using two colour sensors.