def led_control(name, stime):
#亮灯和间隔时间
led = LED(name) # Red LED = 1, Green LED = 2, Blue LED = 3, IR LEDs = 4.
led.on()
time.sleep(stime)
led.off()
time.sleep(stime)
def log_gps(uart, read_delay=100):
led = LED(4)
with open('/sd/gps.nmea', 'a') as f:
print(file=f)
try:
while True:
led.on()
while uart.any():
line = str(uart.readline(), 'utf-8').rstrip()
print(line, file=f)
parse(line)
led.toggle()
f.flush()
led.off()
wfi()
#delay(read_delay)
finally:
led.off()
LED(2).off()
LED(3).off()
os.sync()
LED(1).on()
class LEDState(
State
): # Output is determined by ``__enter__`` and ``__exit__`` (common in embedded machines).
def __init__(self, led_num, time_on, event):
super().__init__(ident=led_num) # Use the LED num as the ident.
self.led = LED(self.ident) # The LED to use.
self.timer = Timer(timer0 + self.ident) # The timer to use.
self.timeout = time_on # Time to wait before firing event.
self.event = event # Event to fire at end of time_on.
def __enter__(self):
self.led.on()
self.timer.init(
freq=1 / self.timeout,
callback=lambda _: schedule(tl_fire_ref, self.event))
return self
def __exit__(self, exc_type, exc_value, traceback):
self.led.off()
self.timer.deinit()
return False
def main():
# Initialize UART for MIDI
uart = UART(2, baudrate=31250)
midi = MidiOut(uart)
button1 = Switch()
button2 = Pin('PC0', Pin.IN, Pin.PULL_UP)
button3 = Pin('PC1', Pin.IN, Pin.PULL_UP)
led1 = LED(1)
led2 = LED(2)
led3 = LED(3)
tune = program = 0
# send a PROGRAM CHANGE to set instrument to #0 (Grand Piano)
midi.program_change(program)
while True:
if button1():
# When button 1 is pressed, play the current tune
play(midi, TUNES[TUNENAMES[tune]], led1)
led1.off()
if not button2():
# When button 2 is pressed, select the next of the tunes
led2.on()
tune = (tune + 1) % len(TUNENAMES)
delay(BLINK_DELAY)
led2.off()
if not button3():
# When button 3 is pressed, change to next program (instrument)
led3.on()
program = (program + 1) % len(PROGRAMS)
midi.program_change(PROGRAMS[program])
delay(BLINK_DELAY)
led3.off()
delay(200)
async def main(loop):
rtc = RTC()
red = LED(1)
red.on()
grn = LED(2)
sta_if = network.WLAN()
sta_if.active(True)
sta_if.connect(SSID, PW)
while sta_if.status() in (
1, 2): # https://github.com/micropython/micropython/issues/4682
await asyncio.sleep(1)
grn.toggle()
if sta_if.isconnected():
red.off()
grn.on()
await asyncio.sleep(1) # 1s of green == success.
grn.off() # Conserve power
Latency(2000)
count = 0
while True:
publish(ujson.dumps([count, rtc.datetime()]))
count += 1
await asyncio.sleep(120) # 2 mins
else: # Fail to connect
red.on()
grn.off()
class FlashingRed(State): # Special fault state that should never exit.
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 __enter__(self):
self.timer.init(
freq=2, callback=lambda _: schedule(self.led_tog_ref, None))
return self
def __exit__(self, exc_type, exc_val, exc_tb):
self.led.off()
self.timer.deinit()
c[0]=c[1] #init c[0]
m=1
for j in range(2):
if (c[0]<c[j+2] ):
m=j+2
c[0]=c[j+2]
if (c[0]>0 ): # above a bar = matching someone
if (m==1):
img.draw_cross(c1[0], c1[1], size=5)
img.draw_string(0, 10, "Match %d%%"%(c1[6]))
print("He jianfei DETECTED","Match %d%%"%(c1[6]))
i[1]=i[1]+1
green_led.on()
time.sleep(1000)
green_led.off()
if (m==2):
img.draw_cross(c2[0], c2[1], size=5)
img.draw_string(0, 10, "Match %d%%"%(c2[6]))
print("sun fang DETECTED","Match %d%%"%(c2[6]))
i[2]=i[2]+1
green_led.on()
time.sleep(300)
green_led.off()
if (m==3):
img.draw_cross(c3[0], c3[1], size=5)
img.draw_string(0, 10, "Match %d%%"%(c3[6]))
print("He zhiyuam DETECTED","Match %d%%"%(c3[6]))
i[3]=i[3]+1
blue_led.on()
time.sleep(1000)
tic1 = pyb.micros()
u = pidc.get_pwm(pitch, pitch_dot)
if u > 0:
motor.A_forward( (abs(u)+motor_offset) * mWeight.report('A') )
motor.B_forward( (abs(u)+motor_offset) * mWeight.report('B') )
elif u < 0:
motor.A_back( (abs(u)+motor_offset) * mWeight.report('A') )
motor.B_back( (abs(u)+motor_offset) * mWeight.report('B') )
#else:
#motor.A_stop()
#motor.B_stop()
if mic.buffer_full(): # semaphore signal from ISR - set if buffer is full
b_LED.off() # flash off
# Get instantaneous energy
E = mic.inst_energy()
# compute moving sum of last 50 energy epochs
sum_energy = sum_energy - e_buf[e_ptr] + E
e_buf[e_ptr] = E # over-write earlest energy with most recent
e_ptr = (e_ptr + 1) % M # increment e_ptr with wraparound - 0 to M-1
# Compute ratio of instantaneous energy/average energy
c = E * M / sum_energy
# Look for a beat
if (pyb.millis() - tic2 > 500): # if more than 500ms since last beat
if (c > BEAT_THRESHOLD) or (pyb.millis()-tic1 > 600): # look for a beat
# look for a beat, or if not found, timeout
tic2 = pyb.millis() # reset tic2
led4 = LED(4)
print("LED")
punainen = True
keltainen = False
vihrea = False
keltainen2 = False
#pyb.delay(5000)
while True:
if sw() and punainen:
led.on()
led3.off()
punainen = False
keltainen = True
pyb.delay(200)
if sw() and keltainen:
led.on()
led3.on()
keltainen = False
vihrea = True
pyb.delay(200)
if sw() and vihrea:
led2.on()
led.off()
led3.off()
vihrea = False
return "DATABAR_EXP"
if (code.type() == image.CODABAR):
return "CODABAR"
if (code.type() == image.CODE39):
return "CODE39"
if (code.type() == image.PDF417):
return "PDF417"
if (code.type() == image.CODE93):
return "CODE93"
if (code.type() == image.CODE128):
return "CODE128"
while (True):
clock.tick()
blue_led.on()
img = sensor.snapshot()
codes = img.find_barcodes()
for code in codes:
img.draw_rectangle(code.rect())
if (temp != code.payload()):
temp = code.payload()
result = code.payload()
green_led.on()
time.sleep(100)
green_led.off()
usb.send(result + '\r\n')
time.sleep(1000)
if not codes:
pass
If there is one point, it will report that point
If there are two points, it will report midpoint between the two points
If there are 3 points, it will report midpoint between two most distant points (ignoring the flash from the flow deck)
'''
import sensor, image, pyb, os, time
from pyb import USB_VCP
from pyb import LED
red_led = LED(1)
green_led = LED(2)
blue_led = LED(3)
ir_led = LED(4)
red_led.off()
green_led.off()
blue_led.off()
ir_led.off()
def raise_error():
print('{901$901}')
red_led.on()
blue_led.off()
green_led.off()
def pad_with_0(string_to_pad, target_length):
while len(string_to_pad) < target_length:
string_to_pad = '0' + string_to_pad
from pyb import LED
import pyb
import micropython
DESTINATION_CAN_ID = 123
ledBlue = LED(1)
switch = pyb.Switch()
# 50kBaud
can = CAN(1, CAN.NORMAL, extframe=False, prescaler=40, sjw=1, bs1=14, bs2=6)
print("Press Switch to send CAN-telegrams, press <ctrl-c> to abort.")
lastValue = None
while True:
newValue = switch.value()
if lastValue != newValue:
lastValue = newValue
if newValue:
ledBlue.on()
telegram = b'on'
else:
ledBlue.off()
telegram = b'off'
print("Sending %s to CAN-id %d" % (telegram, DESTINATION_CAN_ID))
can.send(telegram, DESTINATION_CAN_ID)
mode = 1
print('mode 1')
elif command[2] == ord('2'):
mode = 2
print('mode 2')
elif command[2] == ord('3'): #shootout
mode = 3
print('mode 3')
#_____________________________________________________________________________
if mode == 1:
print('roaming activated') #infrared
if IR_sensor1.value() and IR_sensor2.value(): #no value
RED.off()
A1.high()
A2.low()
B1.low()
B2.high()
motor1.pulse_width_percent(50)
motor2.pulse_width_percent(50)
elif IR_sensor1.value() == 1:
RED.on()
print('LEFT')
motor1.pulse_width_percent(0)
motor2.pulse_width_percent(80)
elif IR_sensor2.value() == 1:
RED.on()
delay(100)
r2.backward( 50 )
delay( 300 )
r2.right()
delay( 300 )
r2.halt()
delay(100)
# Si rien devant --> Marche avant
if (r2.state == Robot2Wheel.HALTED) and (r2.distance() > MIN_DISTANCE):
r2.forward()
r2.halt()
# Routine principale
l.off()
while True:
#DEBUG: print( 'Wait' )
if r2.button_pressed(1):
# Deparasitage logiciel
delay( 10 )
if r2.button_pressed(1) == True:
# Signaler le démarrage
l.on()
delay( 2000 )
# Piloter le robot
drive_robot()
l.off()
delay( 2000 )
delay( 300 ) # ne rien faire
elif (command == 'T'):
g.put_triangle()
done()
elif (command == 'G'):
sample = g.get()
write_one(sample)
elif (command == 'U'):
sample = g.get_mean(value)
m = "Sample: %4.2fV" % (sample * 3.3 / 4096)
g.write_message(m)
write_one(sample)
elif (command == 'M'):
y_LED.on()
s_buf = g.get_block(value)
write_block(s_buf)
y_LED.off()
gc.collect()
elif (command == 'J'):
y_LED.on()
s_buf = g.get_mic(value)
write_block(s_buf)
y_LED.off()
gc.collect()
elif (command == 'I'):
y_LED.on()
[accel, gyro] = g.get_imu()
u.send(accel)
u.send(gyro)
y_LED.off()
elif (command == 'K'):
y_LED.on()
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' )
class LEDController:
def __init__(self):
self.LED_GREEN = 2
self.LED_RED = 1
self.LED_IR = 4
self.LED_BLUE = 3
self.ledRed = LED(self.LED_RED)
self.ledGreen = LED(self.LED_GREEN)
self.ledBlue = LED(self.LED_BLUE)
self.ledIR = LED(self.LED_IR)
self.ledGreen.off()
self.ledRed.off()
self.ledIR.off()
self.ledBlue.off()
# blink var
self.lastTime = 500
def allOff(self):
self.ledGreen.off()
self.ledRed.off()
self.ledIR.off()
self.ledBlue.off()
def on(self, led):
if (led == self.LED_RED):
self.ledRed.on()
elif (led == self.LED_GREEN):
self.ledGreen.on()
elif (led == self.LED_IR):
self.ledIR.on()
elif (led == self.LED_BLUE):
self.ledBlue.on()
def off(self, led):
if (led == self.LED_RED):
self.ledRed.off()
elif (led == self.LED_GREEN):
self.ledGreen.off()
elif (led == self.LED_IR):
self.ledIR.off()
elif (led == self.LED_BLUE):
self.ledBlue.off()
def toggle(self, led):
if (led == self.LED_RED):
self.ledRed.toggle()
elif (led == self.LED_GREEN):
self.ledGreen.toggle()
elif (led == self.LED_IR):
self.ledIR.toggle()
elif (led == self.LED_BLUE):
self.ledBlue.toggle()
def blink(self):
currentTime = millis()
if currentTime > (self.lastTime):
self.ledGreen.toggle()
self.lastTime = currentTime + 500
#hardware platform: pyboard V1.1
from pyb import Pin
from pyb import LED
#from pyb import ExtInt
import pyb
import time
button = Pin('X1', Pin.IN) #set Pin('X1') is input
led = LED(1)
led.off()
def mycallback(line): #while press button,led turn on,otherwise led turn off
if (button.value() == 0):
led.off()
else:
led.on()
#every time a rising edge is seen on the X1 pin, the callback will be called.
#produce a rising edge while button is pressed
extint = pyb.ExtInt('X1', pyb.ExtInt.IRQ_RISING, pyb.Pin.PULL_UP, mycallback)
while True:
time.sleep(0.1)
sensor.set_framesize(sensor.QVGA)
#sensor.set_windowing((200,200))
if Work_mode == 1: #条形码
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.VGA)
sensor.set_windowing((200, 200))
if Work_mode == 33: #红色杆识别
pass
if Work_mode == 44: #蓝色杆识别
pass
if Work_mode == 55: #巡线模式
pass
else:
led1.on()
time.sleep_ms(1000)
led1.off()
time.sleep_ms(1000)
while (Work_mode == 2):
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
#sensor.set_windowing((200,200))
clock.tick()
uart_read_buf(uart)
now_Work_mode = uart_mode_secelt()
if now_Work_mode == 0:
img = sensor.snapshot()
find_quarter(img)
else:
Work_mode = now_Work_mode
led3.off()
pass
threshold=0.75,
scale_factor=1.25)
# Draw objects
for r in objects:
img.draw_rectangle(r)
# Print FPS.
# Note: Actual FPS is higher, streaming the FB makes it slower.
print(clock.fps())
if KEY.value() == 1:
while KEY.value() == 1:
blue_led.on()
sleep(0.05)
blue_led.off()
sleep(0.05)
keycount += 1
if keycount > 3:
# 长按K1,释放对焦马达,镜头回到初始状态
sensor.__write_reg(0x3022, 0x08)
while KEY.value() == 1:
blue_led.on()
sleep(0.1)
blue_led.off()
sleep(0.1)
if keycount <= 3:
sensor.__write_reg(0x3022, 0x03)
# 判断对焦是否完成
if keycount != 0:
class Robot(object):
'''
Handles the common objects, launches activities and keeps them running
'''
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 getLedMatrix(self):
if self._ledMatrix == None:
#TODO: 20200511 DPM Get I2C channel from settings
self._ledMatrix = BiColorLedMatrix(1)
self._ledMatrix.start()
#TODO: 20200511 DPM Get default dim from settings
self._ledMatrix.setDim(0x8)
return self._ledMatrix
def getBuzzer(self):
if self._buzzer == None:
#TODO: 20200526 DPM Get buzzer pin and timer-channel pair from settings
self._buzzer = Buzzer(Pin.board.D12, 3, 1)
return self._buzzer
def getSequencer(self):
if self._sequencer == None:
self._sequencer = Sequencer(self.getBuzzer())
return self._sequencer
def addActivity(self, activity):
'''
Adds an activity to the robot
@param activity: Activity
'''
self._activities += [activity]
def _selectActivity(self, button):
'''
Selects the activity and sets the robot into the ready mode
'''
button.cleanup()
self.getBuzzer().buzz(440, S)
self.getBuzzer().buzz(440, S)
self._activity = self._activities[self._activityIndex]
self._activity.setDeviceProvider(self)
Switch().callback(self._toggleActivity)
self._heartbeat.setState(Heartbeat.States.Waiting)
self._loop.create_task(self._heartbeat.run())
def _rotateActivity(self, _):
'''
Rotates to the next available activity and shows its icon
'''
self.getBuzzer().buzz(220, E)
self._activityIndex = (self._activityIndex + 1) % len(self._activities)
self._preselectActivity()
def _preselectActivity(self):
if self._activityIndex < len(self._activities):
iconRows = self._activities[self._activityIndex].getIconRows()
self.getLedMatrix().updateDisplayFromRows(iconRows[0], iconRows[1])
def run(self):
'''
Runs the execution of the activity
'''
self._preselectActivity()
#TODO: 20200515 DPM Get the Button's pin from settings.
#PC13 is the Switch (a.k.a. user button) for the NUCLEO_F767ZI and NUCLEO_L476RG boards.
#Please, check for other boards.
Button(Pin.cpu.C13, lowOnPress=True).setLongPressHandler(
self._selectActivity).setShortPressHandler(self._rotateActivity)
self._running = True
self._loop.run_until_complete(self._keepRunning())
self._loop.close()
def cleanup(self):
'''
Finalizes and releases the used resources
'''
Switch().callback(None)
self._heartbeatLed.off()
if self._activity != None:
self._activity.cleanup()
if self._ledMatrix != None:
self._ledMatrix.cleanup()
#20200526 DPM Note that the sequencer's cleanup-method calls the buzzer's already
if self._sequencer != None:
self._sequencer.cleanup()
elif self._buzzer != None:
self._buzzer.cleanup()
def _testUserInterface(self):
ledMatrix = self.getLedMatrix()
buzzer = self.getBuzzer()
ledMatrix.updateDisplayFromRows(greenRows=bytes([0xff] * 8))
buzzer.buzz(110, E - S)
utime_sleep_ms(S)
buzzer.buzz(110, E - S)
utime_sleep_ms(S)
buzzer.buzz(880, Q - S)
utime_sleep_ms(H + S)
ledMatrix.updateDisplayFromRows(
[0xf0, 0xf0, 0xf0, 0xf0, 0xff, 0xff, 0xff, 0xff],
[0xff, 0xff, 0xff, 0xff, 0x0f, 0x0f, 0x0f, 0x0f])
buzzer.buzz(440, E)
buzzer.buzz(220, E)
buzzer.buzz(110, E + S)
utime_sleep_ms(S)
ledMatrix.updateDisplayFromRows(redRows=bytes([0xff] * 8))
buzzer.buzz(880, E)
buzzer.buzz(220, E)
buzzer.buzz(440, E + S)
utime_sleep_ms(S)
ledMatrix.updateDisplayFromRows(bytes([0xff] * 8), bytes([0xff] * 8))
buzzer.buzz(880, Q)
buzzer.buzz(440, H + Q)
ledMatrix.displayOff()
ledMatrix.clear()
def _runActivity(self):
self._heartbeat.setState(Heartbeat.States.Active)
self.getLedMatrix().displayOff()
self.getLedMatrix().clear()
if self._activity != None:
self._loop.create_task(self._activity.start())
def _stopActivity(self):
self._heartbeat.setState(Heartbeat.States.Waiting)
if self._activity != None:
self._loop.create_task(self._activity.stop())
self._running = False
def _toggleActivity(self):
# First at all try to debounce
self.getBuzzer().buzz(440, E)
if Switch().value():
if self._activity == None or self._activity.isRunning():
schedule(Robot._stopActivity, self)
else:
schedule(Robot._runActivity, self)
async def _keepRunning(self):
'''
Let execute the activity until end request
'''
while self._running:
await ua_sleep_ms(500)
def main():
# Switch ON 3.3V external LDO
p33v_2 = Pin('Y5', mode=Pin.OPEN_DRAIN, pull=None, value=1)
sleep(3.0)
# Instantiate LEDs
led_R = LED(1)
led_G = LED(2)
led_B = LED(3)
led_R.off()
led_G.off()
led_B.off()
# Intialize I2C Bus X
Pin('PULL_SCL', Pin.OUT, value=1) # enable 5.6kOhm X9/SCL pull-up
Pin('PULL_SDA', Pin.OUT, value=1) # enable 5.6kOhm X10/SDA pull-up
try:
i2c = I2C('X', freq=400000)
print(i2c.scan())
except Exception as error:
print(error.__class__.__name__ + ": " + str(error))
i2c = None
"""
# Intialize I2C Bus Y
y9 = Pin('Y9', Pin.OUT, Pin.PULL_UP) # enable 5.6kOhm Y9/SCL pull-up
y10 = Pin('Y10', Pin.OUT, Pin.PULL_UP) # enable 5.6kOhm Y10/SDA pull-up
try:
i2c = I2C('Y', freq=400000)
print(i2c.scan())
except Exception as error:
print(error.__class__.__name__ + ": " + str(error))
i2c = None
"""
# Instantiate TSYS01 (Temperature Sensor)
try:
tsys01 = TSYS01(i2c)
except Exception as error:
print(error.__class__.__name__ + ": " + str(error))
tsys01 = None
# Instantiate MS5837 (Pressure Sensor)
try:
ms5837 = MS5837(i2c)
except Exception as error:
print(error.__class__.__name__ + ": " + str(error))
ms5837 = None
# Initialize Temperature Sensor for reading
tsys01.init()
sleep(0.125)
# Initialize Pressure Sensor for reading
ms5837.init()
sleep(0.125)
for i in range(20):
led_R.on()
tsys01.read()
sleep(0.5)
led_R.off()
led_G.on()
ms5837.read()
sleep(0.5)
led_G.off()
temperature_1 = tsys01.temperature()
pressure = ms5837.pressure()
temperature_2 = ms5837.temperature()
print(
"Temperature in Centrigrade from TSYS01: {:0.4f} and from MS5837: {:0.4f}"
.format(temperature_1, temperature_2))
print("Pressure in mBar from MS5837: {:0.4f}".format(pressure))
# Switch OFF 3.3V external LDO
p33v_2.value(0)
#找到最大色块
def find_max(blobs):
max_size=0
for blob in blobs:
if blob.pixels() > max_size:
max_blob=blob
max_size = blob.pixels()
return max_blob
while(True):
clock.tick()
img = sensor.snapshot()
if a==0:
blobs=img.find_blobs([thresholds[0]],roi=(50,50,100,100), pixels_threshold=60, area_threshold=60, merge=True)
if blobs==0:
led2.off()#灭
send_data_packet(888,888)
if blobs:
max_blob=find_max(blobs)
# These values depend on the blob not being circular - otherwise they will be shaky.
# These values are stable all the time.
led2.on()#亮
img.draw_rectangle(max_blob.rect())
img.draw_cross(max_blob.cx(), max_blob.cy())
send_data_packet(max_blob.cx(), max_blob.cy())
print(max_blob.cx(), max_blob.cy())
# Note - the blob rotation is unique to 0-180 only.
img.draw_keypoints([(max_blob.cx(), max_blob.cy(), int(math.degrees(max_blob.rotation())))], size=20)
print(clock.fps())
clock = time.clock()
x = 0
y = 0
while (True):
clock.tick()
img = sensor.snapshot()
blobs = img.find_blobs([threshold],
pixels_threshold=10,
area_threshold=10,
merge=True)
la_led.on()
time.sleep(500)
la_led.off()
verify = bytearray([0xB3, 0xB3])
uart.write(verify)
for b in blobs:
img.draw_rectangle(b[0:4])
img.draw_cross(b.cx(), b.cy())
img.draw_circle(b[5], b[6], 10, color=(255, 0, 0))
x = b.cx()
y = b.cy()
area = w * h
data = bytearray([x, y])
uart.write(data)
print(x)
print(y)
# DEBUG: print( 'Running' )
if u.distance_in_cm() < MIN_DISTANCE:
r2.halt()
delay(100)
r2.right()
delay(2500)
r2.halt()
delay(100)
# Si rien devant --> Marche avant
if (r2.state == Robot2Wheel.HALTED) and (u.distance_in_cm() > MIN_DISTANCE):
r2.forward()
r2.halt()
# Routine principale
l.off()
while True:
# DEBUG: print( 'Wait' )
if btn() == True:
# Deparasitage logiciel
delay(10)
if btn() == True:
# Signaler le démarrage
l.on()
delay(2000)
# Piloter le robot
drive_robot()
l.off()
delay(2000)
delay(300) # ne rien faire
else:
err_x = 0
err_y = 0
if (uart.any()): #判断是否有串口数据
uart_data = uart.readchar()
if uart_data == 0XAA:
err_min = err_min + 1
elif uart_data == 0XBB:
err_max = err_min - 1
elif uart_data == 0XCC:
err_max = err_max + 1
elif uart_data == 0XDD:
err_max = err_max - 1
if err_x > err_min and err_x < err_max:
red_led.on()
blue_led.off()
pin0.value(0)
pin1.value(0)
elif err_x < err_min:
red_led.off()
blue_led.on()
pin0.value(1)
pin1.value(0)
elif err_x > err_max:
red_led.off()
blue_led.on()
pin0.value(0)
pin1.value(1)
#数组中数据写入
print(err_x, err_min, err_max)
oled.draw_text(0, 10, 'PWM:{:4d}'.format(speed))
oled.draw_text(0, 20, 'SpeedA:{:5.2f} rps'.format(motor.speedA / 39))
oled.draw_text(0, 30, 'SpeedB:{:5.2f} rps'.format(motor.speedB / 39))
oled.display()
try:
send_uart("Motor Test")
except OSError:
print('UART send error')
tic = pyb.millis()
while True:
# y_LED.off()
g_LED.off()
r_LED.off()
b_LED.toggle()
if (read_sw() == 0):
motor.stop()
test_mic()
elif (read_sw() == 1):
motor.stop()
toc = pyb.millis()
test_imu(toc - tic)
tic = pyb.millis()
elif (read_sw() == 2):
test_motor()
elif (read_sw() == 3):
motor.stop()
sine_gen()
#########################
# Main Loop #
#########################
while finished == False: #While loop that loops forever
if hc12.any():
data = hc12.readline()
data = data.decode('utf-8')
dataArray = data.split(',') #Split it into an array called dataArray
if dataArray[0] == 'end':
green.off()
sleep(0.5)
green.on()
sleep(0.5)
green.off()
finished == True
elif len(dataArray) == 6:
tagx = dataArray[0]
temp = dataArray[1]
pres = dataArray[2]
alti = dataArray[3]
lati = dataArray[4]
loni = dataArray[5]
#data to analyse later
#print('TAGX:{}'.format(tagx))
# loop from -10 to 10
red_led = LED(1)
i = 0
red_led.on()
print("hi")
lpf2 = LPF2(3, 'P4', 'P5') # OpenMV
lpf2.initialize()
print("initialized")
while True:
if not lpf2.connected:
red_led.on()
utime.sleep(1)
lpf2.initialize()
else:
red_led.off()
while lpf2.connected:
#i = 0
gc.collect()
img = sensor.snapshot()
img.lens_corr(1.6)
for code in img.find_qrcodes():
key = code.payload().upper()
try:
print(key, send_nums[key])
i = send_nums[key]
except KeyError:
pass
print(i)
lpf2.send_value(i)
else:
backward(abs(drive_signal * offset) + 5, move_left, move_right)
tic = pyb.micros()
if debug:
oled.clear()
oled.draw_text(0, 10, "Drive Signal: {}".format(drive_signal))
oled.draw_text(0, 40, "Robot pitch: {}".format(current_pitch))
oled.display()
if micro.buffer_full: # semaphore signal from ISR - set if buffer is full
b_LED.off()
# Calculate instantaneous energy
E = micro.inst_energy()
# compute moving sum of last 50 energy epochs
sum_energy = sum_energy - e_buf[e_ptr] + E
e_buf[e_ptr] = E # over-write earlest energy with most recent
e_ptr = (e_ptr +
1) % M # increment e_ptr with wraparound - 0 to M-1
# Compute ratio of instantaneous energy/average energy
c = E * M / sum_energy
if (pyb.millis() - tic_detect >
500): # if more than 500ms since last beat
print(c)
flag = uart.readline()
utime.sleep_ms(100)
print(flag)
#print("done")
#set the uarm to the default position
utime.sleep_ms(500)
uart.write("G0 X250 Y0 Z")
uart.write("160 F15000\r\n")
utime.sleep_ms(8000)
#finish the initialization
led.off()
# Reset sensor
sensor.reset()
# Sensor settings
sensor.set_contrast(3)
sensor.set_gainceiling(16)
sensor.set_framesize(sensor.VGA)
sensor.set_windowing((320, 240))
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.skip_frames(time=200)
sensor.set_auto_gain(False, value=100)
y_accel = read_acceleration(0x2A)
#print("{:20}, {:20}".format(x_accel, y_accel))
print(vaisseau.x, vaisseau.y)
seuil = 0x12C #valeur de 300 mg
led_px, led_nx = LED(1), LED(2)
if x_accel > seuil:
led_px.on()
move(vaisseau.x, vaisseau.y)
uart.write(" ")
vaisseau.x += 1
colision_right()()
move(vaisseau.x, vaisseau.y)
uart.write(vaisseau.skin)
else:
led_px.off()
if x_accel < -seuil:
led_nx.on()
move(vaisseau.x, vaisseau.y)
uart.write(" ")
vaisseau.x -= 1
colision_left()()
move(vaisseau.x, vaisseau.y)
uart.write(vaisseau.skin)
else:
led_nx.off()
GLED.on()
with open('tph', 'a') as f: #write header
f.write("#temperature, pressure, humidity\n")
#print("header written")
while True:
if (measurementTimer + MEASURE_DELAY) < time.ticks_ms():
values = sensor_read()
write_to_file(values)
measurementTimer = time.ticks_ms()
for i in range(3):
highLowValues[i] = test_high_low(values[i], highLowValues[i])
print(values)
if DISP.is_touched():
lcdValues = sensor_read()
#test_high_low(lcdValues, highLowValues)
update_lcd(lcdValues, highLowValues)
lcdTimeOut = time.ticks_ms()
lcdOn = True
YLED.on()
#print("lcd update")
if ((lcdTimeOut + 20000) < time.ticks_ms()) and lcdOn:
DISP.set_brightness(0)
YLED.off()
lcdOn = False
#print("lcd off")
#feedback-waiting for user to press button orange = LED(3) orange.on() #boolean variable to manage main loop finished = False ######################### # Main Loop # ######################### while finished == False: #if start command is received if hc12.any(): orange.off() #for local use only for i in range(0,2): blue.toggle() sleep(0.4) blue.toggle() sleep(0.4) #X second loop, get data every half second and write to backup.csv, and also transmit to ground station for tag in range(1,61): green.off() temp = bmp180.temperature pres = bmp180.pressure