SunFounder PiCar-X Kit
from picarx import Picarx
from time import sleep
px = Picarx()
# px = Picarx(grayscale_pins=['A0', 'A1', 'A2'])
# Please run ./calibration/grayscale_calibration.py to Auto calibrate grayscale values
# or manual modify reference value by follow code
# px.set_line_reference([1400, 1400, 1400])
current_state = None
px_power = 10
offset = 20
last_state = "stop"
def outHandle():
global last_state, current_state
if last_state == 'left':
px.set_dir_servo_angle(-30)
px.backward(10)
elif last_state == 'right':
px.set_dir_servo_angle(30)
px.backward(10)
while True:
gm_val_list = px.get_grayscale_data()
gm_state = get_status(gm_val_list)
print("outHandle gm_val_list: %s, %s"%(gm_val_list, gm_state))
currentSta = gm_state
if currentSta != last_state:
break
sleep(0.001)
def get_status(val_list):
_state = px.get_line_status(val_list) # [bool, bool, bool], 0 means line, 1 means␣
˓→background
if _state == [0, 0, 0]:
return 'stop'
elif _state[1] == 1:
return 'forward'
elif _state[0] == 1:
return 'right'
elif _state[2] == 1:
return 'left'
if __name__=='__main__':
try:
while True:
gm_val_list = px.get_grayscale_data()
gm_state = get_status(gm_val_list)
print("gm_val_list: %s, %s"%(gm_val_list, gm_state))
if gm_state != "stop":
last_state = gm_state
(continues on next page)
4.7. 5. Line Tracking 61
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