# Finds all locally installed apps that have an external.py
def get_external_hook_paths():
return ["%s/external" % app.folder_path for app in get_local_apps() if is_file("%s/external.py" % app.folder_path)]
def low_power():
ugfx.backlight(0)
ugfx.power_mode(ugfx.POWER_OFF)
ugfx.init()
imu=IMU()
neo = pyb.Neopix(pyb.Pin("PB13"))
neo.display(0x04040404)
ledg = pyb.LED(2)
ival = imu.get_acceleration()
if ival['y'] < 0:
ugfx.orientation(0)
else:
ugfx.orientation(180)
buttons.init()
if not onboard.is_splash_hidden():
splashes = ["splash1.bmp"]
for s in splashes:
ugfx.display_image(0,0,s)
delay = 2000
while delay:
delay -= 1
if buttons.is_triggered("BTN_MENU"):
"%s/external" % app.folder_path for app in get_local_apps()
if is_file("%s/external.py" % app.folder_path)
]
def low_power():
ugfx.backlight(0)
ugfx.power_mode(ugfx.POWER_OFF)
ugfx.init()
imu = IMU()
neo = pyb.Neopix(pyb.Pin("PB13"))
neo.display(0x04040404)
ledg = pyb.LED(2)
ival = imu.get_acceleration()
if ival['y'] < 0:
ugfx.orientation(0)
else:
ugfx.orientation(180)
buttons.init()
if not onboard.is_splash_hidden():
splashes = ["splash1.bmp"]
for s in splashes:
ugfx.display_image(0, 0, s)
delay = 2000
while delay:
delay -= 1
if buttons.is_triggered("BTN_MENU"):
break
from imu import IMU
import pyb
imu = IMU()
while True:
print(imu.get_acceleration())
pyb.delay(1000);
from imu import IMU
import pyb
imu = IMU()
while True:
print(imu.get_acceleration())
pyb.delay(1000)
class Bike():
def __init__(self, log=False):
if str(log) == "True":
dir_path = os.getcwd() + "/"
file_name = time.strftime("%Y.%m.%d.%H.%M.%S") + ".log"
log = dir_path + file_name
self.log = log
self.mtr = BigBoy()
self.imu = IMU()
self.fps = FPS(1.0)
self.t0 = time.time()
self.steps = 5
self.max_steps = 60
self.pos = 0
self.threshold = 1.5
self.tilt_constant = -25.0
# record parameters at the top of the log
def balance(self):
x, y, self.tilt = self.imu.get_acceleration()
self.goal = int(self.tilt_constant * self.tilt)
self.response = 'Goal: ' + str(self.goal)
self.try_step(self.goal - self.pos)
time.sleep(0.005)
def balance_initial(self):
t = time.time() - self.t0
x, y, self.tilt = self.imu.get_acceleration()
if tilt < -self.threshold:
self.response = 'leaning left'
self.try_step(self.steps)
elif tilt > self.threshold:
self.response = 'leaning right'
self.try_step(-self.steps)
elif self.pos > 0:
self.response = 'recentering right'
self.try_step(-self.steps)
elif self.pos < 0:
self.response = 'recentering left'
self.try_step(self.steps)
if self.log:
data = [
t,
x,
y,
self.pos,
self.tilt,
self.response,
]
with open(self.log, 'a') as f:
f.write(",".join(data) + "\n")
def try_step(self, steps):
if abs(self.pos + steps) <= self.max_steps:
self.pos += steps
self.mtr.step(steps)
def updateFPS(self):
self.fps.update(verbose=True)
def cleanup(self):
self.mtr.cleanup()
from imu import IMU
import wifi
TILT_THRESHOLD = -0.4
TILT_PLAY = -0.1
imu = IMU()
host = 'http://192.168.0.12:8001'
if not wifi.nic().is_connected():
wifi.connect(timeout=20)
triggered = False
while(True):
y = imu.get_acceleration()['y']
if(int(y) < TILT_THRESHOLD):
triggered = True
elif(y > TILT_PLAY and triggered):
try:
print('foobar')
get(host, timeout=10).raise_for_status()
except Exception as e:
print('Request Failed {}'.format(str(e)))
except OSError as e:
print('Request Failed {}'.format(str(e)))
finally:
triggered = False
pyb.delay(500)
FLAT = 2
WIREFRAME = 3
# Start with backface culling mode
mode = BACKFACECULL
last_polygons = []
last_mode = WIREFRAME
# Main loop
run = True
while run:
gc.collect()
# Render the scene
render(
mode,
calculateRotation(smoothing, imu.get_acceleration())
)
# Button presses
if buttons.is_pressed("JOY_LEFT"):
y_rotation -= 5
if buttons.is_pressed("JOY_RIGHT"):
y_rotation += 5
if buttons.is_pressed("JOY_CENTER"):
y_rotation = 0
if buttons.is_pressed("BTN_B"):
selected += 1
if selected >= len(objects):
selected = 0
loadObject(objects[selected])
time.sleep_ms(500) # Wait a while to avoid skipping ahead if the user still has the button down
if buttons.is_pressed("BTN_A"):
