Remote Controlled LIDAR-based GiggleBot

gigglebot_lidar_robot.py

from gigglebot import *
from distance_sensor import DistanceSensor
from microbit import sleep
from utime import ticks_us, sleep_us
import ustruct
import radio

# stop the robot if it's already moving
stop()
# enable radio
radio.on()

# distance sensor object
ds = DistanceSensor()
ds.start_continuous()

rotate_time = 0.7 # measured in seconds
rotate_span = 160 # measured in degrees
rotate_steps = 10
overhead_compensation = 1.05 # defined in percentages
time_per_step = 10 ** 6 * rotate_time / (rotate_steps * overhead_compensation)
last_read_time = 0

radar = bytearray(rotate_steps)
servo_rotate_direction = 0 # 0 for going upwards (0->160) and 1 otherwise
radar_index = 0

set_servo(RIGHT, 0)
while True:
    # read from the radar
    if ticks_us() - last_read_time > time_per_step:
        # read from the distance sensor
        radar[radar_index] = int(ds.read_range_continuous() / 10)
        last_read_time = ticks_us()

        print(radar_index)

        # do the logic for rotating the servo from left to right
        if radar_index == rotate_steps - 1 and servo_rotate_direction == 0:
            set_servo(RIGHT, 0)
            servo_rotate_direction = 1
        elif radar_index == 0 and servo_rotate_direction == 1:
            set_servo(RIGHT, rotate_span)
            servo_rotate_direction = 0
        else:
            radar_index += 1 if servo_rotate_direction == 0 else -1

        # and send the radar values
        radio.send_bytes(radar)

    try:
        # read robot commands
        lmotor, rmotor = ustruct.unpack('bb', radio.receive_bytes())

        # and actuate the motors should there be any received commands
        set_speed(lmotor, rmotor)
        drive()
    except TypeError:
        pass