https://youtu.be/2khTwDcWwGw
Le programme :
from mrpi1_lib import * import time obs_limit = 600 # main program state = 1 while 1: x1 = proxSensor(3) x2 = proxSensor(4) if(( x1 > obs_limit)and( x2 > obs_limit)and(state == 1)): x1 = 0 x2 = 0 stop() time.sleep(1) state = 2 controlEnable() turnRight_degree(10,90) forward_mm(10, 100) turnRight_degree(10,90) if(( x1 > obs_limit)and( x2 > obs_limit)and(state == 2)): x1 = 0 x2 = 0 stop() time.sleep(1) state = 2 controlEnable() turnLeft_degree(10,90) forward_mm(10, 100) turnLeft_degree(10,90) state = 1 else: forward(20)