class Motor:
def __init__(self, dc1, dc2):
self.m1 = Timer(12, freq=100000).channel(1,
Timer.PWM,
pin=Pin('Y7'),
pulse_width=0)
self.dc1 = dc1
self.f1 = Pin("Y5", pyb.Pin.OUT_PP)
self.b1 = Pin("Y6", pyb.Pin.OUT_PP)
self.m2 = Timer(12, freq=100000).channel(2,
Timer.PWM,
pin=Pin('Y8'),
pulse_width=0)
self.dc2 = dc2
self.f2 = Pin("X20", pyb.Pin.OUT_PP)
self.b2 = Pin("X19", pyb.Pin.OUT_PP)
def run(self):
self.b1.value(self.dc1 < 0)
self.f1.value(self.dc1 > 0)
self.b2.value(self.dc2 < 0)
self.f2.value(self.dc2 > 0)
self.m1.pulse_width_percent(abs(self.dc1))
self.m2.pulse_width_percent(abs(self.dc2))
import sensor, image, time, math
from pyb import UART, Pin, Timer, LED
from struct import pack, unpack
import json
import time
led1 = LED(1)
led2 = LED(2)
led3 = LED(3)
yellow_threshold = (100, 0, -128, 125, 16, 127)
#(100, 8, -9, 127, 17, 127)
quar_threshold = (100, 8, -2, 127, -6, -29)
light = Timer(2, freq=50000).channel(1, Timer.PWM, pin=Pin("P6"))
light.pulse_width_percent(0) # 控制亮度 0~100
#感光元件测试使用部分
sensor.reset()
sensor.set_pixformat(sensor.RGB565) #初始设定后面会更改
sensor.set_framesize(sensor.QVGA) #320*240
sensor.skip_frames(time=2000)
sensor.set_auto_whitebal(False)
sensor.set_auto_gain(False)
clock = time.clock()
#######################各个数据##################################
count_change = 0
change_flag = False
bar_flag = False
import time
from pyb import Pin, Timer
# 50kHz pin6 timer2 channel1
light = Timer(2, freq=50000).channel(1, Timer.PWM, pin=Pin("P6"))
light.pulse_width_percent(100) # adjust light 0~100
while (True):
time.sleep(1000)
def f():
#Led 1 here performed as an indicator.
pyb.LED(1).toggle()
ch = Timer(2, freq=1/float(value1)).channel(10*float(value4), Timer.PWM, pin=Pin('X3'))
ch.pulse_width_percent(float(value3)/(float(value2)+float(value3)))
