Maqueen Wall Following MAZE

After some trialing and modifications I have 3d printed. a holder for the maqueen to allow a 90 deg mounting of the ultra sonic an 2 touch sensors.

I will update with access to videos, 3d files for printing and the iterations of code

#wall runner using side facing ultrasonic and push button

ideal_follow = 4

#assumes 4cm is a good distance to follow wall

distance = ideal_follow

#sets the initial distance to the ideal_follow distance

wall_range = 1

#sets the amount the robot can be away from the wall

waitonce = 0

#used to pause the robot for 5 seconds to position it correctly

def on_forever():

global distance

global waitonce

global ideal_follow

global wall_range

#accessess the global variables in all functions

if waitonce == 0:

basic.show_icon(IconNames.SQUARE)

basic.pause(3000)

waitonce = 1 #resets so id does not pause again

# get a new reading

distance = maqueen.ultrasonic(PingUnit.CENTIMETERS)

if distance > ideal_follow and distance < ideal_follow + wall_range: #the ideal range

maqueen.motor_run(maqueen.Motors.ALL, maqueen.Dir.CW, 50)

basic.show_arrow(ArrowNames.NORTH)

elif distance < ideal_follow: #getting too close to the side wall

maqueen.motor_run(maqueen.Motors.M1, maqueen.Dir.CW, 50) # slow turn left

maqueen.motor_run(maqueen.Motors.M2, maqueen.Dir.CW, 25)

basic.show_icon(IconNames.SAD)

elif distance > 10:

maqueen.motor_run(maqueen.Motors.M1, maqueen.Dir.CCW, 15) # fast right left no wall left

maqueen.motor_run(maqueen.Motors.M2, maqueen.Dir.CW, 45)

basic.pause(65) #change this to the time it take to turn 90 deg #opening in wall 90 deg left turn

else: #getting too far from the side wall

maqueen.motor_run(maqueen.Motors.M1, maqueen.Dir.CW, 25) # slow right left

maqueen.motor_run(maqueen.Motors.M2, maqueen.Dir.CW, 50)

basic.show_icon(IconNames.HAPPY)

if input.pin_is_pressed(TouchPin.P1): #hit the wall at the front

maqueen.motor_run(maqueen.Motors.ALL, maqueen.Dir.CCW, 75) # fast reverse

basic.pause(200)

maqueen.motor_run(maqueen.Motors.M1, maqueen.Dir.CW, 45) # fast right left

maqueen.motor_run(maqueen.Motors.M2, maqueen.Dir.CCW, 15)

basic.show_arrow(ArrowNames.NORTH_EAST)

basic.pause(65) #change this to the time it take to turn 90 deg

basic. Forever(on_forever)