Tarea de Sistemas Embebidos Avanzados
Sensor HC-SR04 Proyecto motor sensor de proximidad
from machine import Pin, PWM, I2C
import utime
from pico_i2c_lcd import I2cLcd

# Display
i2c = I2C(1, scl=Pin(27), sda=Pin(26), freq=100000)  # Use I2C0, check pins
lcd = I2cLcd(i2c, 0x27, 2, 16)

# Sensor de distancia
trig = Pin(16, Pin.OUT)
echo = Pin(17, Pin.IN)

# Motor giro
pinE = Pin(5, Pin.OUT, value=0)  # Enable pin
pinD = Pin(0, Pin.OUT)         # Direction pin
pwm = PWM(Pin(4))
pwm.duty_u16(32768)  # Initial duty cycle (50%)
pwm.freq(100)

speed = 50  # You might want to adjust this

# -------
def movx1(timet1, speed1):
    pinE.on()  # Enable motor
    pinD.off()  # Direction (right)

    for _ in range(timet1):  # Use _ for unused loop variable
        pwm.freq(speed1)      # Set PWM frequency
        utime.sleep(0.1)      # Sleep for 0.1 seconds

    pinE.off()  # Disable motor

# -------

# Combine the loops into a single loop
while True:
    # Motor control (you might want to remove or adjust this)
    movx1(1, speed)
    utime.sleep_ms(5000)

    # Distance measurement
    trig.value(0)
    utime.sleep_us(5)
    trig.value(1)
    utime.sleep_us(10)
    trig.value(0)

    while echo.value() == 0:
        pass
    Tmrinicio = utime.ticks_us()
    while echo.value() == 1:
        pass
    Tmrfin = utime.ticks_us()
    Duration = utime.ticks_diff(Tmrfin, Tmrinicio)
    distancecm = Duration * 0.0171

    lcd.clear()
    lcd.move_to(0, 0) # Corrected position
    lcd.putstr('Dist= {:.2f} cm'.format(distancecm)) # Format to 2 decimal places
    print(distancecm)

    # Conditional motor control based on distance
    if distancecm <= 50:
        pinE.off() # Motor enable OFF within range
        pinD.on() # Move in left direction
        utime.sleep(5) # Run for 5 second
    else:
        pinE.on() # Motor disable outside range
        #pinD.off() # No need to change direction if motor is off
        utime.sleep(1) # Wait before next measurement

    utime.sleep(0.5)  # Pause between measurements