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)
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 initialize(self):
led_red = LED(1)
led_green = LED(2)
led_blue = LED(3)
led_green.on()
led_blue.on()
while True:
try:
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time=1) # 5000
break
except Exception as e:
self.logger.info("{}".format(e))
led_red.on()
led_green.off()
led_blue.off()
utime.sleep_ms(1000)
led_red.off()
utime.sleep_ms(1000)
led_red.off()
led_green.off()
led_blue.off()
self.thermal_configure()
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()
def main():
# Instantiate LEDs
led_R = LED(1)
led_G = LED(2)
led_B = LED(3)
led_R.off()
led_G.off()
led_B.off()
# Switch ON 3.3V external LDO
p33v_2 = Pin('Y5', mode=Pin.OPEN_DRAIN, pull=None, value=1)
# Wait for few seconds to turn on the 3.3V supply
sleep(3.0)
# Initialize I2C X bus
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_bus = I2C('X', freq=400000)
print(i2c_bus.scan())
except Exception as error:
print(error.__class__.__name__ + ": " + str(error))
i2c_bus = None
try:
lsm303 = LSM303D(i2c_bus)
except Exception as error:
print(error.__class__.__name__ + ": " + str(error))
lsm303 = None
if lsm303:
x_p, y_p, z_p = lsm303.accelerometer()
mx_p, my_p, mz_p = lsm303.magnetometer()
for i in range(10):
led_R.on()
x_c, y_c, z_c = lsm303.accelerometer()
#print("Current Acceleration: {:+06.2f}g : {:+06.2f}g : {:+06.2f}g".format(x_c, y_c, z_c))
print("Accel Diff. : {:0.4f}g : {:0.4f}g : {:0.4f}g".format(x_c-x_p, y_c-y_p, z_c-z_p))
(x_p, y_p, z_p) = (x_c, y_c, z_c)
sleep(0.5)
led_R.off()
led_G.on()
mx_c, my_c, mz_c = lsm303.magnetometer()
#print("Magnetic Field: {:+06.2f} : {:+06.2f} : {:+06.2f}".format(mx_c, my_c, mz_c))
print("Magnetic Diff. : {:0.4f} : {:0.4f} : {:0.4f}".format(mx_c - mx_p, my_c - my_p, mz_c - mz_p))
(mx_p, my_p, mz_p) = (mx_c, my_c, mz_c)
sleep(0.5)
led_G.off()
led_B.on()
temperature = lsm303.temperature()
print("Temperature : {:0.4f}".format(temperature))
sleep(0.5)
led_B.off()
# Switch ON 3.3V to TTL-RS232 converter
p33v_2.value(0)
# Higher threshold results in a higher detection rate, with more false positives.
objects = img.find_features(face_cascade,
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)
# Welcome to the OpenMV IDE! Click on the green run arrow button below to run the script!
import sensor, image, time, pyb
from pyb import LED
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(
sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QQVGA) # Set frame size to QVGA (320x240)
sensor.skip_frames(time=2000) # Wait for settings take effect.
clock = time.clock() # Create a clock object to track the FPS.
led_red = LED(1)
led_blue = LED(2)
led_green = LED(3)
while (True):
led_red.on()
led_blue.on()
led_green.on()
#clock.tick() # Update the FPS clock.
img = sensor.snapshot() # Take a picture and return the image.
clock.tick()
height = img.height()
width = img.width()
img.to_rgb565()
print(
clock.fps()) # Note: OpenMV Cam runs about half as fast when connected
# to the IDE. The FPS should increase once disconnected.
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False) # must turn this off to prevent image washout...
sensor.set_auto_whitebal(
False) # must turn this off to prevent image washout...
clock = time.clock()
# LEDs
red_led = LED(1)
green_led = LED(2)
# Barcode
myCode = "031000048495"
while (True):
clock.tick()
# Capture snapshot
img = sensor.snapshot()
# Find barcode.
codes = img.find_barcodes()
for code in codes:
img.draw_rectangle(code.rect())
if code.payload() == myCode:
print("Found")
green_led.on()
if not codes:
print("FPS %f" % clock.fps())
if Work_mode == 2: #二维码
sensor.set_pixformat(sensor.RGB565)
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
import utime
from scd30 import SCD30
from machine import I2C
errled = LED(1)
led = LED(2)
# Get Sensor, should be scannable here...
i2c = I2C(1)
scd30 = SCD30(i2c, 0x61)
# Make sure we have a SD card!
sd = pyb.SDCard()
if sd.present() != 1:
errled.on()
machine.deepsleep()
# Power off the board...
sd.power(0)
en_3v3 = Pin('EN_3V3')
en_3v3.value(0)
while True:
data = {}
en_3v3.value(1)
led.on()
sd.power(1)
os.mount(pyb.SDCard(), '/sd')
# 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
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)
#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
b_LED.on()# beat found, flash blue LED ON REPLACE THIS WITH THE MOVES
# execute move function (if=='c' etc)
readmove(movelist, counter, u)# execute a move depending on the counter
counter += 1 # increment a counter when beat detected
mic.set_buffer_empty() # reset the buffer_full flag
finally: # in the event of a crash or keyboard interrupt turn of motors before exiting program
motor.A_stop()
motor.B_stop()
c[4]=c4[6]
print(c)
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
#########################
# 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()
led3 = LED(3)
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()
#lcd.display(img)
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
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False) # must be turned off for color tracking
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)
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
#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())
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' )
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)
write_reg(addr_ctrl_reg4, 0x77)
clear_ecran()
borders()
while True:
x_accel = read_acceleration(0x28)
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()()
#hardware platform: pyboard V1.1
from pyb import LED
import time
led1 = LED(1)
led1.toggle() #turn on led
led2 = LED(2)
led2.toggle()
led3 = LED(3)
led3.toggle()
led4 = LED(4)
led4.toggle()
while 1:
time.sleep(0.5)
led1.on()
time.sleep(0.5)
led1.off()
time.sleep(0.5)
led3.on()
time.sleep(0.5)
led3.off()
time.sleep(0.5)
led2.on()
time.sleep(0.5)
led2.off()
time.sleep(0.5)
led4.on()
time.sleep(0.5)
led4.off()
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()
print('RIGHT')
motor1.pulse_width_percent(80)
motor2.pulse_width_percent(0)
else:
motor1.pulse_width_percent(0)
motor2.pulse_width_percent(0)
#_____________________________________________________________________________
elif mode == 2:
'RED': 9,
'MOTOR ON': 100,
'MOTOR OFF': 200
}
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
# 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
trigger = pyb.Switch()
while not trigger():
pyb.delay(1)
while trigger():
pass
tic = pyb.millis() # mark time now in msec
while True: # Main program loop
if buffer_full: # semaphore signal from ISR - set if buffer is full
b_LED.off()
E = energy(s_buf) # 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
c = E * M / sum_energy # Compute ratio of instantaneous energy/average energy
if (pyb.millis() - tic > 500): # if more than 500ms since last beat
if (c > BEAT_THRESHOLD): # look for a beat
tic = pyb.millis() # reset tic
b_LED.on() # beat found, flash blue LED
readmove(moves, current_move, 25)
if current_move == 9:
current_move = 0
else:
current_move += 1
buffer_full = False # reset status flag
'''
import time
time.sleep(1) # sleep for 1 second
time.sleep_ms(500)
time.sleep_us(10)
start = time.ticks_ms()
delta = time.ticks_diff(time.ticks_ms() - start)
'''
1.3 LED
'''
from pyb import LED
led = LED(1)
led.toggle()
led.on()
led.of()
'''
1.4 Pins and GPIO
'''
from pyb import Pin
p_out = Pin('X1', Pin.OUT_PP)
p_out.high()
p_out.low()
p_in = Pin('X1', Pin.IN, Pin.PULL_UP)
p_in.value() # get value, 0 or 1
'''
1.5 Servo control
'''
from pyb import Pin, Timer, LED
from oled_938 import OLED_938
from struct import unpack
# Constants
BLANK_LINE = " "
# Initialise OLED display
try:
oled_port = pyb.I2C('Y', pyb.I2C.MASTER)
if (not oled_port.scan()):
oled = None
else:
oled = OLED_938(pinout={
'sda': 'Y10',
'scl': 'Y9',
'res': 'Y8'
},
height=64,
external_vcc=False,
i2c_devid=61)
oled.poweron()
oled.init_display()
oled.draw_text(0, 0, "-- User's Program --")
oled.draw_text(0, 40, "-- Edit user.py --")
oled.display()
b_LED = LED(4)
b_LED.on()
except ValueError:
pass
for i in range(3, 0, -1):
GLED.toggle()
time.sleep(1)
print(i)
highLowValues = [[-100, 100], [300, 1100], [0, 100]
] #[high, low], init to values guaranteed to be lower/higher
_ = sensor_read() # scrap first reading
values = sensor_read()
measurementTimer = time.ticks_ms() # initial timer value
lcdTimeOut = measurementTimer
lcdOn = False
lcd_init(DISP)
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)
# 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)
if (c > BEAT_THRESHOLD): # look for a beat
print('I made it')
tic_detect = pyb.millis()
b_LED.on() # reset tic
move = readmove(moves, current_move, 25,
False) # beat found, flash blue LED
current_move += 1
if current_move == 8:
current_move = 0
elif (pyb.millis() - tic_detect > 2000):
tic_detect = pyb.millis() # reset tic
move = readmove(moves, current_move, 25,
False) # beat found, flash blue LED
current_move += 1
if current_move == 8:
current_move = 0
micro.set_buffer_empty # reset status flag
