ObstacleSensor

The ObstacleSensor class manages Eliobot's 4 infrared obstacle sensors.

Sensor positions

Position	Index	Direction	Pin
Gauche	0	Côté gauche	IO4
Avant	1	Devant	IO5
Droite	2	Côté droit	IO6
Arrière	3	Derrière	IO7

Initialization

import board
import analogio
from elio import ObstacleSensor

obstacle_pins = [
    analogio.AnalogIn(board.IO4),  # Gauche
    analogio.AnalogIn(board.IO5),  # Avant
    analogio.AnalogIn(board.IO6),  # Droite
    analogio.AnalogIn(board.IO7),  # Arrière
]

obstacle_sensor = ObstacleSensor(obstacle_pins)

Methods

get_obstacle(obstacle_pos)

Returns True if an obstacle is detected by the sensor at the given position, False otherwise.

Paramètre	Type	Description
obstacle_pos	int	Index du capteur (0, 1, 2 ou 3)

Detection is triggered when the analog value is lower than 10000.

if obstacle_sensor.get_obstacle(1):  # Capteur avant
    print("Obstacle devant !")

Full example — obstacle avoidance

import board
import pwmio
import analogio
import time
from elio import Motors, ObstacleSensor

AIN1 = pwmio.PWMOut(board.IO36)
AIN2 = pwmio.PWMOut(board.IO38)
BIN1 = pwmio.PWMOut(board.IO35)
BIN2 = pwmio.PWMOut(board.IO37)
vBatt_pin = analogio.AnalogIn(board.BATTERY)

obstacle_pins = [
    analogio.AnalogIn(board.IO4),
    analogio.AnalogIn(board.IO5),
    analogio.AnalogIn(board.IO6),
    analogio.AnalogIn(board.IO7),
]

motors = Motors(AIN1, AIN2, BIN1, BIN2, vBatt_pin)
obstacle_sensor = ObstacleSensor(obstacle_pins)

while True:
    if obstacle_sensor.get_obstacle(1):  # Obstacle devant
        motors.turn_right(speed=60)
        time.sleep(0.3)
    else:
        motors.move_forward(speed=80)