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Examples/Adafruit_Servokit_servo_driver.py

@@ -23,6 +23,8 @@ kit.servo[0].set_pulse_width_range(MIN_PULSE, MAX_PULSE)
 kit.servo[0].angle = 90
 
 
+
+
 # property throttle: float
 # How much power is being delivered to the motor.
 # Values range from -1.0 (full throttle reverse) to 1.0 (full throttle forwards.)

control_functions.py

@@ -15,7 +15,7 @@ TRIGGER_PIN = board.D4      # GPIO pin xx
 ECHO_PIN = board.D17        # GPIO pin xx
 PIN_TIMEOUT: float = 0.1    # Timeout for echo wait -- don't change
 RUN_TIMEOUT: float = 0.0    # Sleep time in function
-MIN_DISTANCE: int = 4       # Minimum sensor distance to be considered valid (1 on bar)
+MIN_DISTANCE: int = 6       # Minimum sensor distance to be considered valid (1 on bar)
 MAX_DISTANCE: int = 39      # Maximum sensor distance to be considered valid (35 on bar)
 
 # Variables to control servo
@@ -69,9 +69,6 @@ previous_error: float = 0.0
 current_time: float = 0
 integral: float = 0
 
-# Init array, used in read_distance_sensor()
-sample_array: list = []
-
 # Error sum array
 error_sum_array: list = []
 error_sum_counter: int = 0
@@ -94,6 +91,8 @@ def log_data(data_file: str, data_line: str, remark: str|None):
         data_writer.writerow([log_stamp,data_line, remark])
 
 def read_distance_sensor():
+    # Init array, used in read_distance_sensor()
+    sample_array: list = []
 
     # Do a burst (MAX_SAMPLES) of measurements, filter out the obvious wrong ones (too short or to long a distance)
     # Return the mean timestamp and median distance.
@@ -110,22 +109,24 @@ def read_distance_sensor():
                 if MIN_DISTANCE < distance < MAX_DISTANCE:
 
                     log_data(data_file="sensor", data_line=str(distance), remark="") if LOG else None
-                    print("Distance_in_range: ", distance) if SCREEN else None
+                    # print("Distance_in_range: ", distance) if SCREEN else None
 
                     sample_array.append(distance)
                     if samples == 0: timestamp_first  = float(datetime.strftime(datetime.now(),
                                                                                 '%Y%m%d%H%M%S.%f')[:-3])
-                    if samples == max_samples - 1: timestamp_last = float(datetime.strftime(datetime.now(),
+                    if samples == max_samples - 1:
+                        timestamp_last = float(datetime.strftime(datetime.now(),
                                                                                 '%Y%m%d%H%M%S.%f')[:-3])
 
                         timestamp_first_float: float = float(timestamp_first)
                         timestamp_last_float: float = float(timestamp_last)
-                    samples: int = samples + 1
                         median_distance: float = st.median(sample_array)
                         mean_timestamp: float  = st.mean([timestamp_first_float, timestamp_last_float])
-
                         print("Distance_median: ", median_distance) if SCREEN else None
                         print("Timestamp_mean: ", mean_timestamp) if SCREEN else None
+                        print("Distance_in_range: ", distance) if SCREEN else None
+
+                    samples: int = samples + 1
 
                 else:
                     log_data(data_file="sensor", data_line=str(distance), remark="") if LOG else None

main.py

@@ -1,12 +1,12 @@
 from datetime import datetime
 import control_functions as cf
+import board
+from adafruit_hcsr04 import HCSR04 as hcsr04        # Ultrasound sensor
 
+try:
     with open("pid-balancer_" + "time_file.txt", "w") as time_file:
         time_file.write(datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f')[:-3])
-
     while True:
-
         cf.read_distance_sensor()
-
-
-
+except RuntimeError:
+    print()