def event_handler(id, handle, data):
global rtc
global periph
global serv_env_sense
global notif_enabled
if id == constants.EVT_GAP_CONNECTED:
# indicated 'connected'
LED(1).on()
elif id == constants.EVT_GAP_DISCONNECTED:
# stop low power timer
rtc.stop()
# indicate 'disconnected'
LED(1).off()
# restart advertisment
periph.advertise(device_name="micr_temp", services=[serv_env_sense])
elif id == constants.EVT_GATTS_WRITE:
# write to this Characteristic is to CCCD
if int(data[0]) == 1:
notif_enabled = True
# start low power timer
rtc.start()
else:
notif_enabled = False
# stop low power timer
rtc.stop()
def test_btn(suppress=False, lf=True, df=True):
s = '''
press pulses red
release pulses green
double click pulses yellow
long press pulses blue
'''
print('Test of pushbutton scheduling coroutines.')
print(helptext)
print(s)
pin = Pin('X1', Pin.IN, Pin.PULL_UP)
red = LED(1)
green = LED(2)
yellow = LED(3)
blue = LED(4)
pb = Pushbutton(pin, suppress)
pb.press_func(pulse, (red, 1000))
pb.release_func(pulse, (green, 1000))
if df:
print('Doubleclick enabled')
pb.double_func(pulse, (yellow, 1000))
if lf:
print('Long press enabled')
pb.long_func(pulse, (blue, 1000))
run()
def turnonlights():
lightsoff = False
if (lightson == False):
LED(1).on()
LED(2).on()
LED(3).on()
LED(4).on()
def found_line(img):
singleline_check.flager = img.get_regression([(255,255)], robust = True)
if (singleline_check.flager):
#print(clock.fps())
singleline_check.rho_err = abs(singleline_check.flager.rho())-0
#if singleline_check.flager.theta()>90:
# singleline_check.theta_err = singleline_check.flager.theta()-0
#else:
# singleline_check.theta_err = singleline_check.flager.theta()-0
position = singleline_check.flager.line()
pos_x1 = abs((position[0] - position[2]) / 2) + min(position[0], position[2])
pos_y1 = abs((position[1] - position[3]) / 2) + min(position[1], position[3])
LED(3).on() #亮灯
pos_x2 = 0
pos_y2 = pos_y1
pos_x3 = 80
pos_y3 = pos_y1
y_send = int(pos_y1)
singleline_check.rho_err = y_send #.to_bytes(8, byteorder='little', signed=True)
line_new = (int(pos_x3), int(pos_y3), int(pos_x2), int(pos_y2))
img.draw_line(line_new, color = 127)
img.draw_line(singleline_check.flager.line(), color = 127)
print("y: %d"%(pos_y1))
else:
LED(3).off() #亮灯
def DotCheck():
img = sensor.snapshot(line_filter=LineFilter) #拍一张图像
red_blobs = img.find_blobs([Red_threshold],
pixels_threshold=3,
area_threshold=3,
merge=True,
margin=5) #识别红色物体
max_blob = FindMax(red_blobs) #找到最大的那个
if max_blob:
img.draw_cross(max_blob.cx(), max_blob.cy()) #物体中心画十字
img.draw_rectangle(max_blob.rect()) #画圈
#获取坐标并转换为+-200
Dot.x = max_blob.cx() - 80
Dot.y = max_blob.cy() - 60
Dot.flag = 1
#LED灯闪烁
LED(3).toggle()
#LED灯闪烁
LED(2).toggle()
else:
Dot.flag = 0
LED(2).off()
LED(3).off()
Message.UartSendData(
Message.DotDataPack(Dot.color, Dot.flag, Dot.x, Dot.y,
Message.Ctr.T_ms))
return Dot.flag
async def main():
if ESP32: # Pins for IR LED gate
pin = (Pin(23, Pin.OUT, value=0), Pin(21, Pin.OUT, value=0))
else:
pin = Pin('X1')
irb = MCE(pin) # verbose=True)
# Uncomment the following to print transmit timing
# irb.timeit = True
b = [] # Rbutton instances
px3 = Pin(18, Pin.IN, Pin.PULL_UP) if ESP32 else Pin(
'X3', Pin.IN, Pin.PULL_UP)
px4 = Pin(19, Pin.IN, Pin.PULL_UP) if ESP32 else Pin(
'X4', Pin.IN, Pin.PULL_UP)
b.append(Rbutton(irb, px3, 0x1, 0x7))
b.append(Rbutton(irb, px4, 0xe, 0xb))
if ESP32:
while True:
print('Running')
await asyncio.sleep(5)
else:
led = LED(1)
while True:
await asyncio.sleep_ms(500) # Obligatory flashing LED.
led.toggle()
async def main(proto):
# Test uses a 38KHz carrier.
if ESP32: # Pins for IR LED gate
pin = (Pin(23, Pin.OUT, value=0), Pin(21, Pin.OUT, value=0))
else:
pin = Pin('X1')
classes = (NEC, SONY_12, SONY_15, SONY_20, RC5, RC6_M0)
irb = classes[proto](pin, 38000) # My decoder chip is 38KHz
# Uncomment the following to print transmit timing
# irb.timeit = True
b = [] # Rbutton instances
px3 = Pin(18, Pin.IN, Pin.PULL_UP) if ESP32 else Pin(
'X3', Pin.IN, Pin.PULL_UP)
px4 = Pin(19, Pin.IN, Pin.PULL_UP) if ESP32 else Pin(
'X4', Pin.IN, Pin.PULL_UP)
b.append(Rbutton(irb, px3, 0x1, 0x7, proto))
b.append(Rbutton(irb, px4, 0x10, 0xb, proto))
if ESP32:
while True:
print('Running')
await asyncio.sleep(5)
else:
led = LED(1)
while True:
await asyncio.sleep_ms(500) # Obligatory flashing LED.
led.toggle()
def turnofflights():
#lightson = False
#if (lightsoff == False):
LED(1).off()
LED(2).off()
LED(3).off()
LED(4).off()
lightsoff = True
def __init__(self):
self.led = {
'r': LED(1),
'g': LED(2),
'b': LED(3),
}
self.wlan = WLAN()
def init(cls):
cls._gps = Pin('X5', mode=Pin.OUT_PP, pull=Pin.PULL_DOWN)
cls._gsm = Pin('X6', mode=Pin.OUT_PP, pull=Pin.PULL_DOWN)
cls._gps.value(True)
cls._gsm.value(True)
cls._red = LED(1)
cls._blue = LED(4)
cls._batt = ADC('X7') # create an analog object from a pin
def initalize_robot():
oled = init_oled()
A1, A2, B1, B2, motorA, motorB = init_motors()
# Define LEDs
b_LED = LED(4)
b_LED.toggle()
# IMU connected to X9 and X10
imu = MPU6050(1, False) # Use I2C port 1 on Pyboard
return imu, oled, A1, A2, B1, B2, motorA, motorB
def run_tests():
results_str = "Decoder;Format;CPU;AHB;APB1;APB2;Average time in ms\n"
freqs_test = [[56000000, 56000000, 14000000, 28000000],
[84000000, 84000000, 42000000, 84000000]]
# Switch on LEDs to show start
for led in [LED(i) for i in range(1, 3)]:
led.on()
for freqs in freqs_test:
fr_cols = ';'.join(str(int(f / 1000000)) for f in freqs)
pyb.freq(freqs[0], freqs[1], freqs[2], freqs[3])
avg_dt_jpg = display_jpeg("images/test3.jpg")
results_str += "{};{};{};{}\n".format("jpeg", "RGB565", fr_cols,
avg_dt_jpg)
avg_dt_bmp24 = display_bmp("images/test24.bmp")
results_str += "{};{};{};{}\n".format("bmp", "RGB565", fr_cols,
avg_dt_bmp24)
#avg_dt_bmp256 = display_bmp("images/test256.bmp")
#results_str += "{};{};{};{}\n".format("bmp", "PAL256", fr_cols, avg_dt_bmp256)
#avg_dt_bmp16 = display_bmp("images/test16.bmp")
#results_str += "{};{};{};{}\n".format("bmp", "PAL16", fr_cols, avg_dt_bmp16)
#avg_dt_gif = display_gif("images/test256.gif")
#results_str += "{};{};{};{}\n".format("gif", "RGB565", fr_cols, avg_dt_gif)
avg_dt_p16 = display_p16("images/test.p16")
results_str += "{};{};{};{}\n".format("p16", "PAL16", fr_cols,
avg_dt_p16)
avg_dt_p16_py = display_p16_py("images/test.p16")
results_str += "{};{};{};{}\n".format("p16_py", "PAL16", fr_cols,
avg_dt_p16_py)
avg_dt_p256 = display_p256("images/test.p256")
results_str += "{};{};{};{}\n".format("p256", "PAL256", fr_cols,
avg_dt_p256)
avg_dt_p256_py = display_p256_py("images/test.p256")
results_str += "{};{};{};{}\n".format("p256_py", "PAL256", fr_cols,
avg_dt_p256_py)
print(results_str)
with open("fileread.csv", "w") as text_file:
print("{}".format(results_str), file=text_file)
# Switch off LEDs to show end
for led in [LED(i) for i in range(1, 3)]:
led.off()
def __init__(self):
super().__init__(ident='error')
self.timer = Timer(timer0 + 4)
self.led = LED(1)
# noinspection PyUnusedLocal
def toggle_with_arg(
not_used
): # Toggle func that accepts an arg, because ``schedule`` *needs* an arg.
self.led.toggle()
self.led_tog_ref = toggle_with_arg # Store the function reference locally to avoid allocation in interrupt.
def test_sw():
print('Test of switch scheduling coroutines.')
print(helptext)
pin = Pin('X1', Pin.IN, Pin.PULL_UP)
red = LED(1)
green = LED(2)
sw = Switch(pin)
# Register a coro to launch on contact close
sw.close_func(pulse, (green, 1000))
sw.open_func(pulse, (red, 1000))
loop = asyncio.get_event_loop()
loop.run_until_complete(killer())
def readloop(enc):
oldval = 0
while True:
val = enc.value
if oldval != val:
print(val)
oldval = val
sleep_ms(50)
LED(1).intensity(val)
LED(2).intensity(val)
LED(3).intensity(val)
LED(4).intensity(val)
def test_swcb():
print('Test of switch executing callbacks.')
print(helptext)
pin = Pin('X1', Pin.IN, Pin.PULL_UP)
red = LED(1)
green = LED(2)
sw = Switch(pin)
# Register a coro to launch on contact close
sw.close_func(toggle, (red, ))
sw.open_func(toggle, (green, ))
loop = asyncio.get_event_loop()
loop.run_until_complete(killer())
def check_whether_verticle_lines(img, lines, first_time_vertical):
global old_cross_x, old_cross_y
if first_time_vertical:
first_time_vertical = False
img = lines = None
else:
lines = img.find_lines(threshold=2000,
theta_margin=50,
rho_margin=50,
roi=mid_roi) #roi=(5, 5, 150,110)
for line in lines:
pass
#img.draw_line(line.line(), color = (255, 0, 0))
# 如果画面中有两条直线
if len(lines) >= 2:
(line1, line2) = find_verticle_lines(lines)
if (line1 == None or line2 == None):
# 没有垂直的直线
draw_cross_point(old_cross_x, old_cross_y)
LED(2).off() #熄灯
LED(3).off() #熄灯
no_vertical_angle = 1
return False
LED(2).toggle() #亮灯
no_vertical_angle = 0
# 画线
img.draw_line(line1.line(), color=127)
img.draw_line(line2.line(), color=127)
# 计算交点
(cross_x, cross_y) = calculate_intersection(line1, line2)
print("cross_x: %d, cross_y: %d" % (old_cross_x, old_cross_y))
if cross_x != -1 and cross_y != -1:
if abs(cross_x - old_cross_x) < move_threshold and abs(
cross_y - old_cross_y) < move_threshold:
# 小于移动阈值， 不移动
pass
else:
old_cross_x = int(old_cross_x * (1 - forget_ratio) +
cross_x * forget_ratio)
old_cross_y = int(old_cross_y * (1 - forget_ratio) +
cross_y * forget_ratio)
draw_cross_point(old_cross_x, old_cross_y)
def check_line(img):
global muti_lines_err_cnt, first_time_vertical
fine_border(img, up, up_roi)
fine_border(img, down, down_roi)
fine_border(img, left, left_roi)
fine_border(img, righ, righ_roi)
fine_border(img, mid, mid_roi) #
line.flag = 0
if up.ok:
line.flag = line.flag | 0x01
if down.ok:
line.flag = line.flag | 0x02
if left.ok:
line.flag = line.flag | 0x04
if righ.ok:
line.flag = line.flag | 0x08
if mid.ok:
line.flag = line.flag | 0x10 #
#print(line.flag)
up.ok = down.ok = left.ok = righ.ok = mid.ok = 0
up.num = down.num = left.num = righ.num = mid.num = 0
up.pixels = down.pixels = left.pixels = righ.pixels = mid.pixels = 0
[Flag, lines] = check_whether_muti_lines(img)
if Flag: #检测是否有两条以上的线
muti_lines_err_cnt = muti_lines_err_cnt + 1
if muti_lines_err_cnt < 100:
return False
muti_lines_err_cnt = 0
#time.sleep(50) #延时150ms
#LED(2).off()
ctr.work_mode = 0x03 #换到直角检测模式
img_to_vertical = img
lines_to_vertical = lines
first_time_vertical = True
return (img_to_vertical, lines_to_vertical)
#check_whether_verticle_lines(img, lines) # 寻找直角
else:
LED(2).off()
LED(3).toggle() #亮灯
#time.sleep(50) #延时150ms
#LED(3).off()
found_line(img) #巡线
#发送数据
uart.write(pack_line_data())
def test_btncb():
print('Test of pushbutton executing callbacks.')
print(helptext)
pin = Pin('X1', Pin.IN, Pin.PULL_UP)
red = LED(1)
green = LED(2)
yellow = LED(3)
blue = LED(4)
pb = Pushbutton(pin)
pb.press_func(toggle, (red, ))
pb.release_func(toggle, (green, ))
pb.double_func(toggle, (yellow, ))
pb.long_func(toggle, (blue, ))
loop = asyncio.get_event_loop()
loop.run_until_complete(killer())
def test_btn():
print('Test of pushbutton scheduling coroutines.')
print(helptext)
pin = Pin('X1', Pin.IN, Pin.PULL_UP)
red = LED(1)
green = LED(2)
yellow = LED(3)
blue = LED(4)
pb = Pushbutton(pin)
pb.press_func(pulse, (red, 1000))
pb.release_func(pulse, (green, 1000))
pb.double_func(pulse, (yellow, 1000))
pb.long_func(pulse, (blue, 1000))
loop = asyncio.get_event_loop()
loop.run_until_complete(killer())
def parse(line):
try:
sentence, *data, checksum = line.split(',')
except ValueError:
return
if sentence == '$GPGGA':
t, lat, lat_part, lng, lng_part, fix, sat_cnt, hdil, alt, _, geoid_height, _, _ = data
if fix == '0':
LED(2).off()
LED(3).on()
else:
LED(3).off()
LED(2).on()
def test_sw():
s = '''
close pulses green
open pulses red
'''
print('Test of switch scheduling coroutines.')
print(helptext)
print(s)
pin = Pin('X1', Pin.IN, Pin.PULL_UP)
red = LED(1)
green = LED(2)
sw = Switch(pin)
# Register coros to launch on contact close and open
sw.close_func(pulse, (green, 1000))
sw.open_func(pulse, (red, 1000))
run()
def disco():
'''
disco()
Starts the LEDs on the device in disco fashion. Neat way to check that you are ready to start your experiment.
Press Ctrl+C to stop.
Parameters
----------
None
Returns
-------
None
'''
leds = [LED(i) for i in range(1, 5)]
n = 0
while True:
try:
n = (n + 1) % 4
leds[n].toggle()
delay(50)
except KeyboardInterrupt:
for led in leds:
led.off()
break
def runLedStartNoBlock(flag=True, tim_num=14, tim_freq=0.3, led_num=4):
""" """
if flag:
tim = Timer(tim_num, freq=tim_freq)
tim.callback(lambda cb_fun: LED(led_num).toggle())
else:
pass
def test_swcb():
s = '''
close toggles red
open toggles green
'''
print('Test of switch executing callbacks.')
print(helptext)
print(s)
pin = Pin('X1', Pin.IN, Pin.PULL_UP)
red = LED(1)
green = LED(2)
sw = Switch(pin)
# Register a coro to launch on contact close
sw.close_func(toggle, (red,))
sw.open_func(toggle, (green,))
run()
def __init__(self):
self._timer = Timer(8, freq=1)
self._leds = [LED(i) for i in range(1, 5)]
self._color = 'yellow'
self._timer.callback(self._callback_)
self._mode = False #'deterministic'
self._led = self._leds[0]
self._status = False
async def heartbeat(tms):
if platform == 'pyboard': # V1.x or D series
from pyb import LED
led = LED(1)
elif platform == 'esp8266':
from machine import Pin
led = Pin(2, Pin.OUT, value=1)
elif platform == 'linux':
return # No LED
else:
raise OSError('Unsupported platform.')
while True:
if platform == 'pyboard':
led.toggle()
elif platform == 'esp8266':
led(not led())
await asyncio.sleep_ms(tms)
def test_led():
led = LED(1) # 红色led
led1 = LED(2) # 红色led
led2 = LED(3) # 红色led
count = 0
while True:
led.toggle()
led1.toggle()
led2.toggle()
count += 1
print(count)
if count > 10:
break
pyb.delay(1000)
def __init__(self):
'''
Constructor
'''
self._ledMatrix = None
self._buzzer = None
self._sequencer = None
#TODO: 20200917 DPM Get heartbeat led from settings
self._heartbeatLed = LED(1)
self._heartbeat = Heartbeat(self._heartbeatLed)
self._testUserInterface()
self._running = False
self._activity = None
self._activities = []
self._activityIndex = 0
self._loop = get_event_loop()
def btn_dynamic():
s = '''
press pulses red
release pulses green
double click pulses yellow
long press changes button functions.
'''
print('Test of pushbutton scheduling coroutines.')
print(helptext)
print(s)
pin = Pin('X1', Pin.IN, Pin.PULL_UP)
red = LED(1)
green = LED(2)
yellow = LED(3)
blue = LED(4)
pb = Pushbutton(pin)
setup(pb, red, green, yellow, None)
pb.long_func(setup, (pb, blue, red, green, yellow, 2000))
run()
async def monitor(loop, button):
leds = [LED(x) for x in (1, 2, 3)] # Create list of LED's and times
tims = [200, 700, 1200]
coros = start(loop, leds, tims)
while True:
if button.pressed():
if running:
stop(leds, coros)
else:
coros = start(loop, leds, tims)
await asyncio.sleep_ms(0)
# along with this program. If not, see <http://www.gnu.org/licenses/>.
#
##
from pyb import delay, LED, Switch
from r2wheel import Robot2Wheel
from ultrasonic import Ultrasonic
# Broche pour déclencher le senseur
TRIGGER_PIN = pyb.Pin.board.Y5
# Broche pour attendre le retour d'echo
ECHO_PIN = pyb.Pin.board.Y6
r2 = Robot2Wheel(reverse_mot2=True)
u = Ultrasonic(TRIGGER_PIN, ECHO_PIN)
l = LED(4) # LED Bleue
btn = Switch() # Button utilisateur (User)
MIN_DISTANCE = 20 # Minimum distance
def drive_robot():
r2.forward()
# Tant que pas bouton User --> Continuer
while btn() == False:
# DEBUG: print( 'Running' )
if u.distance_in_cm() < MIN_DISTANCE:
r2.halt()
delay(100)
r2.right()
delay(2500)
#########################
# Prerequisites #
#########################
#set up transceiver to receive data to from cansat
x3_pin = Pin('X3', Pin.OUT_PP)
x3_pin.high()
#create transceiver object on UART4
hc12 = UART(4, 9600)
#feedback-pyboard on and working
green = LED(2)
green.on()
#feedback-waiting for user to press button
orange = LED(3)
orange.on()
#########################
# Sub Programs #
#########################
def start():
hc12.write('1')
orange.off()
#create GPS object
my_gps = MicropyGPS()
#set up transceiver to send data to ground station
x3_pin = Pin('X3', Pin.OUT_PP)
x3_pin.high()
#create transceiver object on UART4
hc12 = UART(4, 9600)
#create gps object on UART3
uart = UART(3, 9600)
#feedback-pyboard on and working
green = LED(2)
green.on()
#feedback-received start command
blue = LED(4)
#feedback-waiting for user to press button
orange = LED(3)
orange.on()
#boolean variable to manage main loop
finished = False
#########################
# Main Loop #
#########################
def console( derivative_fix=0 ):
print( '-'*20 )
print( 'MotorSkin Interactive Console')
print( 'q: quit to REPL - quitter vers REPL')
print( '')
print( '8: increase speed - accelerer' )
print( '2: decrease speed - ralentir' )
print( '7: going left - aller a gauche')
print( '9: going right - aller a droite')
print( '4: turn left - tourner à gauche')
print( '6: turn right - tourner à droite')
print( '5: HALT - ARRET')
print( '-'*20)
print( 'INIT MOTORSKIN')
l = LED(4) # LED Bleue / Blue LED
l.off()
r2 = Robot2Wheel( derivative_fix=derivative_fix )
r2.halt()
print( 'READY')
l.on()
# User standard input to read instruction via the REPL connection.
# Utiliser l'entrée standard pout lire les insctruction via la connexion REPL
stdin = sys.stdin
cmd = ''
speed = 0
# Difference of speed between wheel - to have a bend turning
# Difference de vitesse entre les roues - pour prendre un virage
speed_delta = 0
while cmd!='q':
# Blocking read 1 char from stdin
# Lecture bloquante de 1 caractere sur stdin
cmd = stdin.read(1)
if cmd == 'q':
pass
elif cmd == '5': # Halt
r2.halt()
speed = 0
speed_delta = 0
print('halted')
elif cmd == '8': # Increase Speed
if abs(speed_delta)>0: # abort bending
speed_delta = 0
speed = speed_control( r2, speed, +0 )
if r2.state in [Robot2Wheel.RIGHT_ROTATE, Robot2Wheel.LEFT_ROTATE]:
# stop the rotation... keep current speed
speed = speed_control( r2, speed, +0 )
else:
speed = speed_control( r2, speed, +10 )
print( 'speed:%i' % speed )
elif cmd == '2': # Decrease speed
if abs(speed_delta) >0: # abord bending
speed_delta = 0
speed = speed_control( r2, speed, 0 )
else:
speed = speed_control( r2, speed, -10 )
print( 'speed:%i' % speed )
elif cmd == '9': # Bending (turning) on right
if speed<50:
print( 'bending:speed-too-low!')
else:
speed_delta = speed_delta_control( r2, speed, speed_delta, +10 )
print( 'bending:%i @ %i' %(speed, speed_delta) )
elif cmd == '7': # Bending (turning) on left
if speed<50:
print( 'bending:speed-too-low!')
else:
speed_delta = speed_delta_control( r2, speed, speed_delta, -10 )
print( 'bending:%i @ %i' %(speed, speed_delta) )
elif cmd == '6': # Turning right
r2.right( speed )
print( 'right:%i' % speed )
elif cmd == '4': # turning left
r2.left( speed )
print( 'left:%i' % speed )
# End of software
r2.halt()
l.off()
del(r2)
print( 'BYE' )
import time
from pyb import LED
l = LED("left:amber")
print(l.get())
while 1:
# l.on()
l.toggle()
print(l.get())
time.sleep(1)
# l.off()
# print(l.get())
# time.sleep(1)
