SunFounder PiCar-X Kit
(continued from previous page)
px.forward(px_power)
elif gm_state == 'right':
px.set_dir_servo_angle(-offset)
px.forward(px_power)
else:
outHandle()
• Safety and Cleanup:
The try...finally block ensures the car stops when the script is interrupted or finished.
finally:
px.stop()
print("stop and exit")
sleep(0.1)
In summary, the script uses grayscale sensors to navigate the Picarx robot car. It continuously reads the sensor data
to determine the direction and adjusts the car’s movement and steering accordingly. The outHandle function provides
additional logic for situations where the car needs to adjust its path significantly.
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4.8 6. Cliff Detection
Let us give PiCar-X a little self-protection awareness and let it learn to use its own grayscale module to avoid rushing
down the cliff.
In this example, the car will be dormant. If you push it to a cliff, it will be awakened urgently, then back up, and say
“danger”.
Run the Code
cd ~/picar-x/example
sudo python3 6.cliff_detection.py
Code
Note: You can Modify/Reset/Copy/Run/Stop the code below. But before that, you need to go to source code path
like picar-x/example. After modifying the code, you can run it directly to see the effect.
64 Chapter 4. Play with Python
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