Add ultrasonic sensor support

modules/main.py

@@ -1,5 +1,5 @@
-from utime import  sleep_ms
-from machine import Pin, PWM
+from utime import sleep_us, sleep_ms
+from machine import Pin, PWM, ADC, time_pulse_us
 
 class ServoMotor():
     def __init__(self, pin):
@@ -14,16 +14,35 @@ class ServoMotor():
         if speed == 0:
             self.pwm.duty(0)
         else:
-            self.pwm.duty(int(33 + speed * 66 / 100))
-        print(self.pwm, 33 + speed * 66 / 100)
+            self.pwm.duty(int(77 + speed * 8 / 100))
+        print(self.pwm, 77 + speed * 8 / 100)
 
+
+class Ultrasonic():
+    def __init__(self, echo=14, trigger=12):
+        self.echo = Pin(pin_echo, Pin.IN)
+        self.trigger = Pin(pin_trigger, Pin.OUT)
+
+    def get(self):
+        self.trigger.value(0)
+        sleep_us(5)
+        self.trigger.value(1)
+        sleep_us(10)
+        self.trigger.value(0)
+        return (time_pulse_us(self.echo, 1, 30000) / 2) / 29.1
+
+# Servo motors
 left_motor = ServoMotor(13)
 right_motor = ServoMotor(15)
+opponent = Ultrasonic()
+
+sleep_ms(2000)
 
 while True:
-    left_motor.set(100)
-    right_motor.set(0)
-    sleep_ms(500)
-    left_motor.set(0)
-    right_motor.set(100)
-    sleep_ms(500)
+    if opponent.get() < 30:
+        left_motor.set(100)
+        right_motor.set(-100)
+    else:
+        left_motor.set(100)
+        right_motor.set(100)
+    sleep_ms(250)