from machine import Pin, Timer, PWM, SPI from util.pinout import set_pinout from time import sleep_ms from random import randrange from hcsr04 import HCSR04 pinout = set_pinout() MAX_SPEED = 800 CRUISING_SPEED = 450 APPROACH_SPEED = 350 TURN_SPEED = 450 RANDOM_TURN_MIN = 600 # ms RANDOM_TURN_MAX = 1000 # ms COLLISION_THRESHOLD = 30 # cm APPROACH_THRESHOLD = 100 #cm MAX_SPEED_THRESHOLD = 250 #cm LR_COMPENSATION = +10 # %, -10 slows L motor comared to R ULTRASONIC_SAMPLING = 1000 # ms, how often detect obstacle moto_L1 = Pin(pinout.MOTOR_1A, Pin.OUT) moto_L2 = Pin(pinout.MOTOR_2A, Pin.OUT) moto_L = PWM(Pin(pinout.MOTOR_12EN, Pin.OUT), freq=500, duty=0) moto_R3 = Pin(pinout.MOTOR_3A, Pin.OUT) moto_R4 = Pin(pinout.MOTOR_4A, Pin.OUT) moto_R = PWM(Pin(pinout.MOTOR_34EN, Pin.OUT), freq=500, duty=0) echo = HCSR04(trigger_pin=pinout.PWM2_PIN, echo_pin=pinout.PWM1_PIN)
# octopusLAB simple example
# ESP32board with "RGB WS LED"
# run: import examples.rgb_blink
from util.rgb import Rgb
# from util.octopus import led # short way
from util.pinout import set_pinout
pinout = set_pinout() # set board pinout
from util.io_config import get_from_file
io_conf = get_from_file()
ws = Rgb(pinout.WS_LED_PIN, io_conf.get('ws'))
print("---examples/rgb_blink.py---")
# start main loop
while True:
ws.simpleTest()
from micropython import const
from machine import Pin, I2C, TouchPad
from time import sleep_ms
from urandom import randint
from util.pinout import set_pinout
pinout = set_pinout()
#PCF address = 35 #33-0x21/35-0x23
ADDRESS = 0x20 #0x20(000) 0x23(100)
i2c_sda = Pin(pinout.I2C_SDA_PIN, Pin.IN, Pin.PULL_UP)
i2c_scl = Pin(pinout.I2C_SCL_PIN, Pin.OUT, Pin.PULL_UP)
i2c = I2C(scl=i2c_scl, sda=i2c_sda, freq=100000)
# 100kHz as Expander is slow
dice = (
const(0b11101111), #0; int = 239
const(0b11100111), #1; int = 231
const(0b01101011), #2; int = 107
const(0b01100011), #3; int = 99
const(0b01011010), #4; int = 90
const(0b01000010), #5; int = 66
const(0b00011000) #6; int = 24
)
# touchPin
t1 = TouchPad(Pin(4))
pin_led = Pin(2, Pin.OUT)
def controlCycle():
autoGen = True
generate = True
buttonHeld = 0.0
cycleTime = 0.0