PicoBorg Reverse Test

The problem appears to be that the left and right cables are swapped over.

On the Easy Multiplexing Board you need to swap:

1. Brown and Grey
2. Red and Yellow
3. Black and White

No luck there, the board still cannot be seen.

Unfortunately this makes damage to either the GPIO or the PicoBorg Reverse fairly likely now.
Put simply the GPIO pins are not designed to tolerate more than 3.3v and they have been accidentally connected to 5v comming from the BattBorg.

Do you have a different Raspberry Pi that could be used to check the PicoBorg Reverse on its own?

You need to run the commands in python for them to work.

Unfortunately it looks like the GPIO pins are damaged on your Raspberry Pi.
It seems that both of the I2C pins are damaged, along with some others.

Unfortunately this means that the Raspberry Pi cannot talk with the PicoBorg Reverse anymore.
The only fix I can suggest to you is to replace the Raspberry Pi with a new one.

Given the damage caused I would suggest making a careful note of the correct way to wire the pins up for next time.
Hopefully the PicoBorg Reverse itself is undamaged and replacing the Raspberry Pi is enough to fix everything.

Sorry for the bad news :(

We do have an example, but it is very simple.
It only uses one sensor, but it should give an idea of how this can be used for more complicated tasks.
It is based on the ubServoFromDistances.py example, but sets motor speeds instead of servo positions.

The script below will attempt to keep the distance seen from ultrasonic sensor #1 around 200 mm.
It does this by setting the motor speeds faster / slower depending on how far away it is currently reading.
The same script is attached to the bottom of this post so that you can download it instead of having to copy it.

diddyFromDistance.py

#!/usr/bin/env python
# coding: latin-1

# Import the libraries we need
import UltraBorg
import PicoBorgRev
import time
import math
import sys

# Settings
distanceMin = 100.0             # Minimum distance in mm, corresponds to DiddyBorg reversing at 100%
distanceMax = 300.0             # Maximum distance in mm, corresponds to DiddyBorg driving at 100%

# Start the UltraBorg
UB = UltraBorg.UltraBorg()      # Create a new UltraBorg object
UB.Init()                       # Set the board up (checks the board is connected)

# Setup the PicoBorg Reverse
PBR = PicoBorgRev.PicoBorgRev()
#PBR.i2cAddress = 0x44                  # Uncomment and change the value if you have changed the board address
PBR.Init()
if not PBR.foundChip:
    boards = PicoBorgRev.ScanForPicoBorgReverse()
    if len(boards) == 0:
        print 'No PicoBorg Reverse found, check you are attached :)'
    else:
        print 'No PicoBorg Reverse at address %02X, but we did find boards:' % (PBR.i2cAddress)
        for board in boards:
            print '    %02X (%d)' % (board, board)
        print 'If you need to change the I²C address change the setup line so it is correct, e.g.'
        print 'PBR.i2cAddress = 0x%02X' % (boards[0])
    sys.exit()
#PBR.SetEpoIgnore(True)                 # Uncomment to disable EPO latch, needed if you do not have a switch / jumper
PBR.SetCommsFailsafe(False)             # Disable the communications failsafe
PBR.ResetEpo()

# Power settings
voltageIn = 12.0                        # Total battery voltage to the PicoBorg Reverse
voltageOut = 6.0                        # Maximum motor voltage

# Setup the power limits
if voltageOut > voltageIn:
    maxPower = 1.0
else:
    maxPower = voltageOut / float(voltageIn)

# Calculate our divisor
distanceDiv = (distanceMax - distanceMin) / 2.0

# Loop over the sequence until the user presses CTRL+C
print 'Press CTRL+C to finish'
try:
    # Initial settings
    speed = 0.0
    driveLeft = 0.0
    driveRight = 0.0
    while True:
        # Read all four ultrasonic values, we use the filtered values so we get accurate readings
        usm1 = UB.GetDistance1()
        usm2 = UB.GetDistance2()
        usm3 = UB.GetDistance3()
        usm4 = UB.GetDistance4()
        # Convert to the nearest millimeter
        usm1 = int(usm1)
        usm2 = int(usm2)
        usm3 = int(usm3)
        usm4 = int(usm4)
        # Determine the speed of DiddyBorg based on the distance readings
        if usm1 != 0:
            speed = ((usm1 - distanceMin) / distanceDiv) - 1.0
            if speed > 1.0:
                speed = 1.0
            elif speed < -1.0:
                speed = -1.0
        driveLeft = speed
        driveRight = speed
        # Set our new speed
        PBR.SetMotor1(driveRight * maxPower)
        PBR.SetMotor2(-driveLeft * maxPower)
        # Wait between readings
        time.sleep(.1)
except KeyboardInterrupt:
    # User has pressed CTRL+C
    PBR.MotorsOff()
    print 'Done'

Sort of, it depends what you want to happen.

If you run this script and the WebUI at the same time you will not be able to control the robot from the WebUI.
This is because the script above is updating the motor speeds very often.

Most of our scripts are designed to be run individually, but some parts can be shared.
For example the camera output on the WebUI can be used in conjunction with any script that does not use the camera.

It might be worth asking bui_hong_phuc if he can upload his completed script.
I would reply to his It works like a charm comment and see if he is happy to share.
Bear in mind that his ultrasonic modules are mounted differently so the code will probably need adjustment to work with your robot :)