{"id":2260,"date":"2018-04-25T12:44:20","date_gmt":"2018-04-25T11:44:20","guid":{"rendered":"https:\/\/www.macerobotics.com\/?p=2260"},"modified":"2018-04-25T12:45:09","modified_gmt":"2018-04-25T11:45:09","slug":"avancer-vers-un-but-avec-gestion-des-obstacles","status":"publish","type":"post","link":"https:\/\/www.macerobotics.com\/?p=2260","title":{"rendered":"Avancer vers un but avec gestion des obstacles"},"content":{"rendered":"<p>Un programme python pour faire avancer le robot MRPiZ vers un but avec la prise en compte des obstacles.<\/p>\n<pre><span style=\"color: #008000;\"><strong>#!\/usr\/bin\/env python<\/strong><\/span>\r\n<span style=\"color: #008000;\"><strong># Mace Robotics<\/strong><\/span>\r\n\r\n<strong>from mrpiZ_lib import *<\/strong>\r\n<strong>import time<\/strong>\r\n\r\n<span style=\"color: #008000;\"><strong># erreur odometrie<\/strong><\/span>\r\n<strong>error_odo = 20<\/strong>\r\n\r\n<span style=\"color: #008000;\"><strong># sleep 2 secondes<\/strong><\/span>\r\n<strong>time.sleep(2)<\/strong>\r\n\r\n<span style=\"color: #008000;\"><strong># but en millimetre<\/strong><\/span>\r\n<strong>goal_robot = 200<\/strong>\r\n\r\n<span style=\"color: #008000;\"><strong># activer controle<\/strong><\/span>\r\n<strong>controlEnable()<\/strong>\r\n\r\n<span style=\"color: #008000;\"><strong># lecture du capteur avant<\/strong><\/span>\r\n<strong>sensor_p3 = proxSensor(3)<\/strong>\r\n\r\n<span style=\"color: #008000;\"><strong># lecture position du robot (axe X)<\/strong><\/span>\r\n<strong>position_robot = robotPositionX()<\/strong>\r\n\r\n<strong>distance_robot = goal_robot<\/strong>\r\n\r\n<strong>while (position_robot &lt; goal_robot-error_odo):<\/strong>\r\n<strong>  forwardmm(10,distance_robot)<span style=\"color: #008000;\"># avancer vers le but<\/span><\/strong>\r\n<strong>  sensor_p3 = proxSensor(3)<span style=\"color: #008000;\"># lecture capteur<\/span><\/strong>\r\n<strong>  time.sleep(0.2) <span style=\"color: #008000;\"># pause 200 ms<\/span><\/strong>\r\n<strong>  position_robot = robotPositionX()<span style=\"color: #008000;\"># lecture position robot<\/span><\/strong>\r\n \r\n<span style=\"color: #008000;\"><strong>  # si obstacle <\/strong><\/span>\r\n<strong>  if (sensor_p3 &lt; 100):<\/strong>\r\n<strong>    stop()# arret du robot<\/strong>\r\n<strong>    distance_robot = goal_robot - position_robot <span style=\"color: #008000;\"># erreur sur la distance<\/span><\/strong>\r\n\r\n\r\n<span style=\"color: #008000;\"><strong>#end<\/strong><\/span><\/pre>\n","protected":false},"excerpt":{"rendered":"<p>Un programme python pour faire avancer le robot MRPiZ vers un but avec la prise en compte des obstacles. #!\/usr\/bin\/env python # Mace Robotics from mrpiZ_lib import * import time # erreur odometrie error_odo = 20 # sleep 2 secondes time.sleep(2) # but en millimetre goal_robot = 200 # activer controle controlEnable() # lecture du &hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[55],"tags":[58,9,7],"class_list":["post-2260","post","type-post","status-publish","format-standard","hentry","category-mrpiz","tag-mrpiz","tag-raspberry-pi","tag-robot"],"_links":{"self":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/2260","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=2260"}],"version-history":[{"count":1,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/2260\/revisions"}],"predecessor-version":[{"id":2261,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/2260\/revisions\/2261"}],"wp:attachment":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2260"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2260"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2260"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}