{"id":1652,"date":"2017-01-05T08:08:44","date_gmt":"2017-01-05T07:08:44","guid":{"rendered":"http:\/\/www.macerobotics.com\/?p=1652"},"modified":"2017-01-05T08:09:45","modified_gmt":"2017-01-05T07:09:45","slug":"mrpi1-robot-navigation-cleaning-algorithm","status":"publish","type":"post","link":"https:\/\/www.macerobotics.com\/?p=1652","title":{"rendered":"MRPi1 robot navigation &#8220;cleaning algorithm&#8221;"},"content":{"rendered":"<p>https:\/\/youtu.be\/2khTwDcWwGw<\/p>\n<p>Le programme :<\/p>\n<pre>from mrpi1_lib import *\r\nimport time\r\n\r\nobs_limit = 600\r\n\r\n\r\n# main program\r\nstate = 1\r\n\r\nwhile 1:\r\n\u00a0x1 = proxSensor(3)\r\n\u00a0x2 = proxSensor(4)\r\n\r\n\u00a0if(( x1 &gt; obs_limit)and( x2 &gt; obs_limit)and(state == 1)):\r\n\u00a0\u00a0 x1 = 0\r\n\u00a0\u00a0 x2 = 0\r\n\u00a0\u00a0 stop()\r\n\u00a0\u00a0 time.sleep(1)\r\n\u00a0\u00a0 state = 2\r\n\u00a0\u00a0 controlEnable()\r\n\u00a0\u00a0 turnRight_degree(10,90)\r\n\u00a0\u00a0 forward_mm(10, 100)\r\n\u00a0\u00a0 turnRight_degree(10,90)\r\n\u00a0if(( x1 &gt; obs_limit)and( x2 &gt; obs_limit)and(state == 2)):\r\n\u00a0\u00a0 x1 = 0\r\n\u00a0\u00a0 x2 = 0\r\n\u00a0\u00a0 stop()\r\n\u00a0\u00a0 time.sleep(1)\r\n\u00a0\u00a0 state = 2\r\n\u00a0\u00a0 controlEnable()\r\n\u00a0\u00a0 turnLeft_degree(10,90)\r\n\u00a0\u00a0 forward_mm(10, 100)\r\n\u00a0\u00a0 turnLeft_degree(10,90)\r\n\u00a0\u00a0 state = 1\r\n\u00a0else:\r\n\u00a0 forward(20)<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>https:\/\/youtu.be\/2khTwDcWwGw Le programme : from mrpi1_lib import * import time obs_limit = 600 # main program state = 1 while 1: \u00a0x1 = proxSensor(3) \u00a0x2 = proxSensor(4) \u00a0if(( x1 &gt; obs_limit)and( x2 &gt; obs_limit)and(state == 1)): \u00a0\u00a0 x1 = 0 \u00a0\u00a0 x2 = 0 \u00a0\u00a0 stop() \u00a0\u00a0 time.sleep(1) \u00a0\u00a0 state = 2 \u00a0\u00a0 controlEnable() \u00a0\u00a0 &hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,45,46],"tags":[],"class_list":["post-1652","post","type-post","status-publish","format-standard","hentry","category-mrpi1","category-raspberry-pi","category-robot"],"_links":{"self":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/1652","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1652"}],"version-history":[{"count":2,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/1652\/revisions"}],"predecessor-version":[{"id":1654,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/1652\/revisions\/1654"}],"wp:attachment":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1652"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1652"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1652"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}