Exemple de gestion des obstacles avec le robot MRPiZ et 5 capteurs de distance ToF:

#!/usr/bin/python

# Mace Robotics (www.macerobotics.com)
 # Author : Mace Robotics
 # Exemple : alarm
 # Date : 30/12/2015
 # Version : 0.1

from mrpiZ_lib import *
 import time, sys
 import random

#main program
 print "Exemple : Obstacle avoidance"

limit = 20
 speed = 45
 speedSlow = 30

try:
 while 1:
 p1 = proxSensor(1)
 p2 = proxSensor(2)
 p3 = proxSensor(3)
 p4 = proxSensor(4)
 p5 = proxSensor(5)
 #-----------------
 if((p1 < limit)or(p2 < limit)) and (p4 > limit):
 turnRight(speed)
 time.sleep(0.5)
 r = random.randint(0,2)
 if (r == 0):
 back(speedSlow)
 elif ((p4 < limit)or(p5 < limit)) and (p2 > limit):
 turnLeft(speed)
 time.sleep(0.5)
 r = random.randint(0,2)
 if (r == 1):
 back(speedSlow)
 elif (p3 < limit):
 r = random.randint(0,3)
 if (r == 0):
 back(speedSlow)
 time.sleep(0.6)
 elif (r == 1):
 back(speedSlow)
 time.sleep(0.9)
 turnRight(35)
 time.sleep(0.5)
 elif (r == 2):
 back(speedSlow)
 time.sleep(0.7)
 turnLeft(35)
 time.sleep(0.5)
 elif (r == 3):
 back(speedSlow)
 elif (p2 < limit) and (p4 < limit):
 turnLeft(35)
 time.sleep(1)
 else:
 forward(speed)
 except:
 print "Fin programme"
 stop()
 print "stop"
 exit()