import machine
# Pinos reservados para o sensor de linha
pinEsq = 18
pinDir = 19
sensorLinhaEsq = machine.Pin(pinEsq, machine.Pin.IN, machine.Pin.PULL_UP)
sensorLinhaDir = machine.Pin(pinDir, machine.Pin.IN, machine.Pin.PULL_UP)
from L9110URA import L9110URA
import time
dr = L9110URA(13,12,5,23)
parar = False
delta = 50
## O sensor retorna 1 para linha preta e 0 para fundo claro
while ( not parar ):
time.sleep_ms(delta)
if ( not sensorLinhaDir.value() and not sensorLinhaEsq.value() ):
dr.frente()
elif ( sensorLinhaDir.value() and sensorLinhaEsq.value() ):
dr.re()
elif ( sensorLinhaEsq.value() ):
dr.esquerda()
elif ( sensorLinhaDir.value() ):
dr.direita()
# Complete project details at https://RandomNerdTutorials.com import time from umqttsimple import MQTTClient import ubinascii import machine import micropython import network import esp esp.osdebug(None) import gc gc.collect() # Robot codes from L9110URA import L9110URA robot = L9110URA(13, 12, 5, 23) robot.stop() command = b'x' commandTime = 200 # em milisegundos commandLastTime = 0 ssid = 'XXXX' password = '******' mqtt_server = '000.000.000.000' server_port = 1883 mqtt_user = '******' mqtt_password = '******' client_id = ubinascii.hexlify(machine.unique_id()) topic_sub = b'URA/robo1/acao'
#B_IA --> Motor B PWM Speed #B_IB --> Motor B Direction # from dcmotor import DCMotor ## Left for D1 Wemos # m1 = DCMotor(13,12) ## Right # m2 = DCMotor(14,4) from L9110URA import L9110URA dr = L9110URA(13,12,14,4) dr.forward() dr.backward() dr.stop() dr.turnLeft() dr.turnRight()
import machine
import micropython
import network
import esp
esp.osdebug(None)
import gc
gc.collect()
import json
conf_file = open('conf.json')
conf = json.load(conf_file)
conf_file.close()
# Robot codes
from L9110URA import L9110URA
robot = L9110URA(12,14,4,5)
ssid = conf["ssid"]
password = conf["password"]
mqtt_server = conf["mqtt_server"]
server_port = conf["server_port"]
mqtt_user = conf["mqtt_user"]
mqtt_password = conf["mqtt_password"]
client_id = ubinascii.hexlify(machine.unique_id())
topic_sub = b'URA01/input'
topic_pub = b'URA01/output'
# Complete project details at https://RandomNerdTutorials.com from hcsr04 import HCSR04 import time from umqttsimple import MQTTClient import ubinascii import machine import micropython import network import esp esp.osdebug(None) import gc gc.collect() # Robot codes from L9110URA import L9110URA robot = L9110URA(5, 0, 4, 2) robot.stop() sensor = HCSR04(trigger_pin=14, echo_pin=12) distance = sensor.distance_cm() command = b'x' commandTime = 200 # em milisegundos commandLastTime = 0 ssid = 'brisa-1230635' password = '******' mqtt_server = '192.168.1.9' server_port = 1883 mqtt_user = '******' mqtt_password = '******'