import RPi.GPIO as GPIO import time #from AlphaBot import AlphaBot import smbus class AlphaBot(object): def __init__(self,in1=12,in2=13,ena=6,in3=20,in4=21,enb=26,IRR=16,IRL=19): self.IN1 = in1 self.IN2 = in2 self.IN3 = in3 self.IN4 = in4 self.ENA = ena self.ENB = enb self.IRR = IRR #left infrared sensor self.IRL = IRL #right infrared sensor GPIO.setmode(GPIO.BCM) GPIO.setwarnings(False) GPIO.setup(self.IN1,GPIO.OUT) GPIO.setup(self.IN2,GPIO.OUT) GPIO.setup(self.IN3,GPIO.OUT) GPIO.setup(self.IN4,GPIO.OUT) GPIO.setup(self.ENA,GPIO.OUT) GPIO.setup(self.ENB,GPIO.OUT) self.forward() self.PWMA = GPIO.PWM(self.ENA,500) self.PWMB = GPIO.PWM(self.ENB,500) self.PWMA.start(50) self.PWMB.start(50) # gpio for infrared sensor #GPIO.setmode(GPIO.BOARD) GPIO.setup(self.IRR, GPIO.IN,GPIO.PUD_UP) GPIO.setup(self.IRL, GPIO.IN,GPIO.PUD_UP) # Initialize camera #cap = cv2.VideoCapture(0) # Define target coordinates #target_x = 200 #target_y = 200 # Define function to move robot forward def forward(self): GPIO.output(self.IN1,GPIO.HIGH) GPIO.output(self.IN2,GPIO.LOW) GPIO.output(self.IN3,GPIO.LOW) GPIO.output(self.IN4,GPIO.HIGH) # Define function to move robot backward def backword(self): GPIO.output(self.IN1,GPIO.LOW) GPIO.output(self.IN2,GPIO.HIGH) GPIO.output(self.IN3,GPIO.HIGH) GPIO.output(self.IN4,GPIO.LOW) # Define function to turn robot left def left(self): GPIO.output(self.IN1,GPIO.LOW) GPIO.output(self.IN2,GPIO.LOW) GPIO.output(self.IN3,GPIO.LOW) GPIO.output(self.IN4,GPIO.HIGH) time.sleep(0.5) # Define function to turn robot right def right(self): GPIO.output(self.IN1,GPIO.HIGH) GPIO.output(self.IN2,GPIO.LOW) GPIO.output(self.IN3,GPIO.LOW) GPIO.output(self.IN4,GPIO.LOW) time.sleep(0.5) # Define function to stop robot def stop(self): GPIO.output(self.IN1,GPIO.LOW) GPIO.output(self.IN2,GPIO.LOW) GPIO.output(self.IN3,GPIO.LOW) GPIO.output(self.IN4,GPIO.LOW) # Define function to check for obstacles def check_obstacle(): ir1_value = GPIO.input(IRL) ir2_value = GPIO.input(IRR) if ir1_value == 0 or ir2_value == 0: return True else: return False Ab = AlphaBot() IRR = 16 IRL = 19 TRIG_PIN = 17 ECHO_PIN = 5 SPEED_OF_SOUND = 34300 # cm/s INCHES_PER_CM = 0.3937 # inches/cm GPIO.setmode(GPIO.BCM) GPIO.setwarnings(False) GPIO.setup(IRR,GPIO.IN,GPIO.PUD_UP) GPIO.setup(IRL,GPIO.IN,GPIO.PUD_UP) GPIO.setup(TRIG_PIN, GPIO.OUT) GPIO.setup(ECHO_PIN, GPIO.IN) Ab.stop() #covert the measure from cm to inch def measure_distance_inch(): GPIO.output(TRIG_PIN, True) time.sleep(0.00001) GPIO.output(TRIG_PIN, False) start_time = time.time() while GPIO.input(ECHO_PIN) == 0: if (time.time() - start_time) > 0.1: return -1 echo_start_time = time.time() while GPIO.input(ECHO_PIN) == 1: if (time.time() - start_time) > 0.1: return -1 echo_end_time = time.time() echo_duration = echo_end_time - echo_start_time distance_cm = (echo_duration * SPEED_OF_SOUND) / 2 distance_inch = distance_cm * INCHES_PER_CM return distance_inch try: while True: distance = measure_distance_inch() print(f"Distance: .

1. import RPi.GPIO as GPIO
import time
#from AlphaBot import AlphaBot
import smbus
class AlphaBot(object):
def __init__(self,in1=12,in2=13,ena=6,in3=20,in4=21,enb=26,IRR=16,IRL=19):
self.IN1 = in1
self.IN2 = in2
self.IN3 = in3
self.IN4 = in4
self.ENA = ena
self.ENB = enb
self.IRR = IRR #left infrared sensor
self.IRL = IRL #right infrared sensor
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(self.IN1,GPIO.OUT)
GPIO.setup(self.IN2,GPIO.OUT)
GPIO.setup(self.IN3,GPIO.OUT)
GPIO.setup(self.IN4,GPIO.OUT)
GPIO.setup(self.ENA,GPIO.OUT)
GPIO.setup(self.ENB,GPIO.OUT)
self.forward()

2. self.PWMA = GPIO.PWM(self.ENA,500)
self.PWMB = GPIO.PWM(self.ENB,500)
self.PWMA.start(50)
self.PWMB.start(50)
# gpio for infrared sensor
#GPIO.setmode(GPIO.BOARD)
GPIO.setup(self.IRR, GPIO.IN,GPIO.PUD_UP)
GPIO.setup(self.IRL, GPIO.IN,GPIO.PUD_UP)
# Initialize camera
#cap = cv2.VideoCapture(0)
# Define target coordinates
#target_x = 200
#target_y = 200
# Define function to move robot forward
def forward(self):
GPIO.output(self.IN1,GPIO.HIGH)
GPIO.output(self.IN2,GPIO.LOW)
GPIO.output(self.IN3,GPIO.LOW)
GPIO.output(self.IN4,GPIO.HIGH)
# Define function to move robot backward
def backword(self):

3. GPIO.output(self.IN1,GPIO.LOW)
GPIO.output(self.IN2,GPIO.HIGH)
GPIO.output(self.IN3,GPIO.HIGH)
GPIO.output(self.IN4,GPIO.LOW)
# Define function to turn robot left
def left(self):
GPIO.output(self.IN1,GPIO.LOW)
GPIO.output(self.IN2,GPIO.LOW)
GPIO.output(self.IN3,GPIO.LOW)
GPIO.output(self.IN4,GPIO.HIGH)
time.sleep(0.5)
# Define function to turn robot right
def right(self):
GPIO.output(self.IN1,GPIO.HIGH)
GPIO.output(self.IN2,GPIO.LOW)
GPIO.output(self.IN3,GPIO.LOW)
GPIO.output(self.IN4,GPIO.LOW)
time.sleep(0.5)
# Define function to stop robot
def stop(self):
GPIO.output(self.IN1,GPIO.LOW)
GPIO.output(self.IN2,GPIO.LOW)
GPIO.output(self.IN3,GPIO.LOW)

4. GPIO.output(self.IN4,GPIO.LOW)
# Define function to check for obstacles
def check_obstacle():
ir1_value = GPIO.input(IRL)
ir2_value = GPIO.input(IRR)
if ir1_value == 0 or ir2_value == 0:
return True
else:
return False
Ab = AlphaBot()
IRR = 16
IRL = 19
TRIG_PIN = 17
ECHO_PIN = 5
SPEED_OF_SOUND = 34300 # cm/s
INCHES_PER_CM = 0.3937 # inches/cm
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(IRR,GPIO.IN,GPIO.PUD_UP)
GPIO.setup(IRL,GPIO.IN,GPIO.PUD_UP)
GPIO.setup(TRIG_PIN, GPIO.OUT)
GPIO.setup(ECHO_PIN, GPIO.IN)

5. Ab.stop()
#covert the measure from cm to inch
def measure_distance_inch():
GPIO.output(TRIG_PIN, True)
time.sleep(0.00001)
GPIO.output(TRIG_PIN, False)
start_time = time.time()
while GPIO.input(ECHO_PIN) == 0:
if (time.time() - start_time) > 0.1:
return -1
echo_start_time = time.time()
while GPIO.input(ECHO_PIN) == 1:
if (time.time() - start_time) > 0.1:
return -1
echo_end_time = time.time()
echo_duration = echo_end_time - echo_start_time
distance_cm = (echo_duration * SPEED_OF_SOUND) / 2
distance_inch = distance_cm * INCHES_PER_CM
return distance_inch
try:
while True:
distance = measure_distance_inch()
print(f"Distance: {distance} in") #Print the distance of the Ultrasonic Sensor

6. time.sleep(1)
while True:
DR_status = GPIO.input(IRR)
DL_status = GPIO.input(IRL)
if((DL_status == 1) and (DR_status == 1)) and (distance>4):
Ab.forward()
print("forward")
elif((DL_status == 0) and (DR_status == 1)) and (distance<3):
Ab.right()
print("right")
elif((DL_status == 1) and (DR_status == 0)) and (distance<3):
Ab.left()
print("left")
else:
Ab.stop()
print("stop")
except KeyboardInterrupt:
GPIO.cleanup();
Design a software system using python for AlphaBot mobile robot( using raspberry pi) to follow
a pre-planned path [( 0 , 0 ) , ( 20 , 0 ) , ( 20 , 20 ) , ( 0 , 20 ) and get from starting point to the
final destination while navigating through obstacles using two infrared sensors, camara(to detect
moving obstacles only), and ultrasonic sensor.( the below code is to detect the obstacles using 2
infrared sensors and get the the distance value|using ultrasonic sensor. Please finish this code for
the missing part, which are detecting moving obstacles using a camera sensor and keeping the
mobile robot to stay and follow the pre-planning path after avoiding any type of obstacle). Thank
you GPI0. setup(self.IRL, GPI0.IN, GPI0.PUD_UP)