PiCar AWR 4WD smart robot, Bug with "Auto Matic" function

1634718277 · Post time 2021-10-20 16:46:23

Edited by 1634718277 at 2021-10-27 01:20 PM

Hello,

Thank you ...

1634718277 · Post time 2021-10-22 21:34:11

Edited by 1634718277 at 2021-10-22 09:50 PM

Hello,

My testing allowed me to determine that the problem was with a deadlock in the checkdist () function of the ultra.py module. Indeed the error happens because the GPIO.input (Ec) remains at 0 in the test of the first loop where it must go to 1. The error makes the loop infinite and the thread is blocked.
The main reason for triggering this anomaly is an obstacle placed on the ultrasonic. By the way, that's how I trigger it in a test by putting my hand on it.

Below is the original module that allows the error

#! / usr / bin / python3
# File name: Ultrasonic.py
# Description: Detection distance and tracking with ultrasonic
# Website: <a href="http://www.adeept.com" target="_blank">www.adeept.com</a>
# E-mail: <a href="mailto:support@adeept.com">support@adeept.com</a>
# Author: William
# Date: 2019/02/23
import RPi.GPIO as GPIO
import time
Tr = 11
Ec = 8
def checkdist (): #Reading distance
GPIO.setwarnings (False)
GPIO.setmode (GPIO.BCM)
GPIO.setup (Tr, GPIO.OUT, initial = GPIO.LOW)
GPIO.setup (Ec, GPIO.IN)
GPIO.output (Tr, GPIO.HIGH)
time.sleep (0.000015)
GPIO.output (Tr, GPIO.LOW)
while not GPIO.input (Ec):
pass
t1 = time.time ()
while GPIO.input (Ec):
pass
t2 = time.time ()
return (t2-t1) * 340/2>

Copy the Code

My tinkering led me to transform the module to unlock the "while not GPIO.input (Ec):" loop during the error.

#! / usr / bin / python3
# File name: Ultrasonic.py
# Description: Detection distance and tracking with ultrasonic
# Website: <a href="http://www.adeept.com" target="_blank">www.adeept.com</a>
# E-mail: <a href="mailto:support@adeept.com">support@adeept.com</a>
# Author: William
# Date: 2019/02/23
import RPi.GPIO as GPIO
import time
Tr = 11
Ec = 8
#dist = 0
def checkdist (): #Reading distance
GPIO.setwarnings (False)
GPIO.setmode (GPIO.BCM)
GPIO.setup (Tr, GPIO.OUT, initial = GPIO.LOW)
GPIO.setup (Ec, GPIO.IN)
GPIO.output (Tr, GPIO.HIGH)
time.sleep (0.000015)
GPIO.output (Tr, GPIO.LOW)
global Error, totErr
try:
if totErr == 0:
pass
except:
Error = False
totErr = 0
# giec = 0
t0 = time.time ()
# while not giec:
while not GPIO.input (Ec):
# giec = GPIO.input (Ec)
if time.time () - t0> 1:
# giec = 1
Error = True
totErr + = 1
print (Error, 'totErr:', totErr)
print ('forced b1 output')
break
pass
t1 = time.time ()
#print ('t1:', t1)
#while giec:
while GPIO.input (Ec):
# giec = GPIO.input (Ec)
pass
t2 = time.time ()
# print ('t2:', t2)
# dist = (t2-t1) * 340 / 2A
#print ('(t2-t1) * 340/2', dist)
print (Error, 'totErr:', totErr)
return (t2-t1) * 340/2
Regarding the lines below, despite my multiple attempts I have not succeeded in making the Error and totErr variables initialized at the start of the main webServer.py module global.
I'm sorry for the slowness of my python learning.
<
global Error, totErr
try:
if totErr == 0:
pass
except:
Error = False
totErr = 0

Copy the Code

Regarding the lines below, despite my multiple attempts I have not succeeded in making the Error and totErr variables initialized at the start of the main webServer.py module global.
I'm sorry for the slow pace of my python learning.

<div>global Error, totErr
try:
if totErr == 0:
pass
except:
Error = False
totErr = 0</div>

Copy the Code

Once the module has been cleaned of all debugging lines, it remains

#! / usr / bin / python3
# File name: Ultrasonic.py
# Description: Detection distance and tracking with ultrasonic
# Website: <a href="http://www.adeept.com" target="_blank">www.adeept.com</a>
# E-mail: <a href="mailto:support@adeept.com">support@adeept.com</a>
# Author: William
# Date: 2019/02/23
import RPi.GPIO as GPIO
import time
Tr = 11
Ec = 8
def checkdist (): #Reading distance
GPIO.setwarnings (False)
GPIO.setmode (GPIO.BCM)
GPIO.setup (Tr, GPIO.OUT, initial = GPIO.LOW)
GPIO.setup (Ec, GPIO.IN)
GPIO.output (Tr, GPIO.HIGH)
time.sleep (0.000015)
GPIO.output (Tr, GPIO.LOW)
t0 = time.time ()
while not GPIO.input (Ec):
if time.time () - t0> 1:
break
pass
t1 = time.time ()
while GPIO.input (Ec):
pass
t2 = time.time ()
return (t2-t1) * 340/2

Copy the Code

There is certainly a much more elegant solution to solving the problem.

1634718277 · Post time 2021-10-22 21:52:19

Edited by 1634718277 at 2021-10-22 09:55 PM

Hello,

My testing allowed me to determine that the problem was with a deadlock in the checkdist () function of the ultra.py module. Indeed the error happens because the GPIO.input (Ec) remains at 0 in the test of the first loop where it must go to 1. The error makes the loop infinite and the thread is blocked.
The main reason for triggering this anomaly is an obstacle placed on the ultrasonic. By the way, that's how I trigger it in a test by putting my hand on it.

Below is the original module that allows the error

<
#! / usr / bin / python3
# File name: Ultrasonic.py
# Description: Detection distance and tracking with ultrasonic
# Website: <a href="http://www.adeept.com" target="_blank">www.adeept.com</a>
# E-mail: <a href="mailto:support@adeept.com">support@adeept.com</a>
# Author: William
# Date: 2019/02/23
import RPi.GPIO as GPIO
import time
Tr = 11
Ec = 8
def checkdist (): #Reading distance
GPIO.setwarnings (False)
GPIO.setmode (GPIO.BCM)
GPIO.setup (Tr, GPIO.OUT, initial = GPIO.LOW)
GPIO.setup (Ec, GPIO.IN)
GPIO.output (Tr, GPIO.HIGH)
time.sleep (0.000015)
GPIO.output (Tr, GPIO.LOW)
while not GPIO.input (Ec):
pass
t1 = time.time ()
while GPIO.input (Ec):
pass
t2 = time.time ()
return (t2-t1) * 340/2
>

Copy the Code

My tinkering led me to transform the module to unblock the "while not GPIO.input (Ec):" loop during the error.

#! / usr / bin / python3
# File name: Ultrasonic.py
# Description: Detection distance and tracking with ultrasonic
# Website: <a href="http://www.adeept.com" target="_blank">www.adeept.com</a>
# E-mail: <a href="mailto:support@adeept.com">support@adeept.com</a>
# Author: William
# Date: 2019/02/23
import RPi.GPIO as GPIO
import time
Tr = 11
Ec = 8
#dist = 0
def checkdist (): #Reading distance
GPIO.setwarnings (False)
GPIO.setmode (GPIO.BCM)
GPIO.setup (Tr, GPIO.OUT, initial = GPIO.LOW)
GPIO.setup (Ec, GPIO.IN)
GPIO.output (Tr, GPIO.HIGH)
time.sleep (0.000015)
GPIO.output (Tr, GPIO.LOW)
global Error, totErr
try:
if totErr == 0:
pass
except:
Error = False
totErr = 0
# giec = 0
t0 = time.time ()
# while not giec:
while not GPIO.input (Ec):
# giec = GPIO.input (Ec)
if time.time () - t0> 1:
# giec = 1
Error = True
totErr + = 1
print (Error, 'totErr:', totErr)
print ('forced b1 output')
break
pass
t1 = time.time ()
#print ('t1:', t1)
#while giec:
while GPIO.input (Ec):
# giec = GPIO.input (Ec)
pass
t2 = time.time ()
# print ('t2:', t2)
# dist = (t2-t1) * 340 / 2A
#print ('(t2-t1) * 340/2', dist)
print (Error, 'totErr:', totErr)
return (t2-t1) * 340/2

Copy the Code

Regarding the lines below, despite my multiple attempts I have not succeeded in making the Error and totErr variables initialized at the start of the main webServer.py module global.
I'm sorry for the slow pace of my python learning.

global Error, totErr
try:
if totErr == 0:
pass
except:
Error = False
totErr = 0

Copy the Code

Once the module has been cleaned of all debugging lines, it remains

#! / usr / bin / python3
# File name: Ultrasonic.py
# Description: Detection distance and tracking with ultrasonic
# Website: <a href="http://www.adeept.com" target="_blank">www.adeept.com</a>
# E-mail: <a href="mailto:support@adeept.com">support@adeept.com</a>
# Author: William
# Date: 2019/02/23
import RPi.GPIO as GPIO
import time
Tr = 11
Ec = 8
def checkdist (): #Reading distance
GPIO.setwarnings (False)
GPIO.setmode (GPIO.BCM)
GPIO.setup (Tr, GPIO.OUT, initial = GPIO.LOW)
GPIO.setup (Ec, GPIO.IN)
GPIO.output (Tr, GPIO.HIGH)
time.sleep (0.000015)
GPIO.output (Tr, GPIO.LOW)
t0 = time.time ()
while not GPIO.input (Ec):
if time.time () - t0> 1:
break
pass
t1 = time.time ()
while GPIO.input (Ec):
pass
t2 = time.time ()
return (t2-t1) * 340/2

Copy the Code

There is certainly a much more elegant solution to solving the problem.