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Copy pathRaspberry-TrashBin.py
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Raspberry-TrashBin.py
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import RPi.GPIO as GPIO
import time
GPIO.setmode(GPIO.BCM)
GPIO_trig1 = 2
GPIO_echo1 = 3
GPIO_trig2 = 14
GPIO_echo2 = 15
GPIO_trig3 = 23
GPIO_echo3 = 24
GPIO_right = 11
GPIO_left = 9
GPIO_servo = 18
GPIO_drivein1 = 5
GPIO_drivein2 = 6
GPIO_drivein3 = 19
GPIO_drivein4 = 26
GPIO.setup(GPIO_trig1, GPIO.OUT)
GPIO.setup(GPIO_echo1, GPIO.IN)
GPIO.setup(GPIO_trig2, GPIO.OUT)
GPIO.setup(GPIO_echo2, GPIO.IN)
GPIO.setup(GPIO_trig3, GPIO.OUT)
GPIO.setup(GPIO_echo3, GPIO.IN)
GPIO.setup(GPIO_right, GPIO.IN)
GPIO.setup(GPIO_left, GPIO.IN)
GPIO.setup(GPIO_servo, GPIO.OUT)
GPIO.setup(GPIO_drivein1, GPIO.OUT)
GPIO.setup(GPIO_drivein2, GPIO.OUT)
GPIO.setup(GPIO_drivein3, GPIO.OUT)
GPIO.setup(GPIO_drivein4, GPIO.OUT)
pservo = GPIO.PWM(GPIO_servo, 50)
def distance_tutup():
GPIO.output(GPIO_trig1, True)
time.sleep(0.00001)
GPIO.output(GPIO_trig1, False)
StartTime = time.time()
StopTime = time.time()
while GPIO.input(GPIO_echo1) == 0:
StartTime = time.time()
while GPIO.input(GPIO_echo1) == 1:
StopTime = time.time()
TimeElapsed = StopTime - StartTime
distance_tutup = (TimeElapsed * 34300) / 2
return distance_tutup
def distance_dalam():
GPIO.output(GPIO_trig2, True)
time.sleep(0.00001)
GPIO.output(GPIO_trig2, False)
StartTime = time.time()
StopTime = time.time()
while GPIO.input(GPIO_echo2) == 0:
StartTime = time.time()
while GPIO.input(GPIO_echo2) == 1:
StopTime = time.time()
TimeElapsed = StopTime - StartTime
distance_dalam = (TimeElapsed * 34300) / 2
return distance_dalam
def distance_jalan():
GPIO.output(GPIO_trig3, True)
time.sleep(0.00001)
GPIO.output(GPIO_trig3, False)
StartTime = time.time()
StopTime = time.time()
while GPIO.input(GPIO_echo3) == 0:
StartTime = time.time()
while GPIO.input(GPIO_echo3) == 1:
StopTime = time.time()
TimeElapsed = StopTime - StartTime
distance_jalan = (TimeElapsed * 34300) / 2
return distance_jalan
if __name__ == '__main__':
try:
while True:
hasil_distance_tutup = distance_tutup()
hasil_distance_jalan = distance_jalan()
hasil_distance_dalam = distance_dalam()
if hasil_distance_dalam < 10:
if hasil_distance_jalan < 50:
GPIO.output(GPIO_drivein1, GPIO.LOW)
GPIO.output(GPIO_drivein2, GPIO.LOW)
GPIO.output(GPIO_drivein3, GPIO.LOW)
GPIO.output(GPIO_drivein4, GPIO.LOW)
print("Tong sampah mendeteksi ada seseorang didepan!")
if hasil_distance_tutup < 50:
pservo.ChangeDutyCycle(12)
time.sleep(5)
print("Tong sampah membuka.")
else:
print("Tong sampah tidak mendeteksi seseorang didepan.")
time.sleep(5)
print("Tong sampah menutup.")
else:
if not GPIO.input(GPIO_left): # belok kanan
GPIO.output(GPIO_drivein1, GPIO.HIGH)
GPIO.output(GPIO_drivein2, GPIO.LOW)
GPIO.output(GPIO_drivein3, GPIO.LOW)
GPIO.output(GPIO_drivein4, GPIO.HIGH)
print("[BELUM PENUH] Tong sampah belok ke kanan")
elif not GPIO.input(GPIO_right): # belok kiri
GPIO.output(GPIO_drivein1, GPIO.LOW)
GPIO.output(GPIO_drivein2, GPIO.HIGH)
GPIO.output(GPIO_drivein3, GPIO.HIGH)
GPIO.output(GPIO_drivein4, GPIO.LOW)
print("[BELUM PENUH] Tong sampah belok ke kiri")
else: # lurus
GPIO.output(GPIO_drivein1, GPIO.HIGH)
GPIO.output(GPIO_drivein2, GPIO.LOW)
GPIO.output(GPIO_drivein3, GPIO.HIGH)
GPIO.output(GPIO_drivein4, GPIO.LOW)
print("[BELUM PENUH] Tong sampah jalan lurus")
else:
if not GPIO.input(GPIO_left): # belok kanan
GPIO.output(GPIO_drivein1, GPIO.HIGH)
GPIO.output(GPIO_drivein2, GPIO.LOW)
GPIO.output(GPIO_drivein3, GPIO.LOW)
GPIO.output(GPIO_drivein4, GPIO.HIGH)
print("[SUDAH PENUH] Tong sampah belok ke kanan")
elif not GPIO.input(GPIO_right): # belok kiri
GPIO.output(GPIO_drivein1, GPIO.LOW)
GPIO.output(GPIO_drivein2, GPIO.HIGH)
GPIO.output(GPIO_drivein3, GPIO.HIGH)
GPIO.output(GPIO_drivein4, GPIO.LOW)
print("[SUDAH PENUH] Tong sampah belok ke kiri")
else: # lurus
GPIO.output(GPIO_drivein1, GPIO.HIGH)
GPIO.output(GPIO_drivein2, GPIO.LOW)
GPIO.output(GPIO_drivein3, GPIO.HIGH)
GPIO.output(GPIO_drivein4, GPIO.LOW)
print("[SUDAH PENUH] Tong sampah jalan lurussbro")
except KeyboardInterrupt:
print("Error")
GPIO.cleanup()