class TrackBall:
def __init__(self,qq):
self.volEnQueueable = EnQueueable((EnQueueable.INC,EnQueueable.VOL),qq)
self.toneEnQueueable = EnQueueable((EnQueueable.INC,EnQueueable.TONE),qq)
self.targCoilID = 0;
self.x1=Pin(State.trackballStateDict['x1'], Pin.IN, Pin.PULL_DOWN)
self.x2=Pin(State.trackballStateDict['x2'], Pin.IN, Pin.PULL_DOWN)
self.y1=Pin(State.trackballStateDict['y1'], Pin.IN, Pin.PULL_DOWN)
self.y2=Pin(State.trackballStateDict['y2'], Pin.IN, Pin.PULL_DOWN)
self.extInts = (ExtInt(State.trackballStateDict['x1'],
ExtInt.IRQ_RISING,
Pin.PULL_DOWN,
self.x11),
ExtInt(State.trackballStateDict['y1'],
ExtInt.IRQ_RISING,
Pin.PULL_DOWN,
self.y11))
def x11(self,unused):
if self.x2.value():
self.volEnQueueable.push(self.targCoilID,-1)
else:
self.volEnQueueable.push(self.targCoilID,1)
def y11(self,unused):
if self.y2.value():
self.toneEnQueueable.push(self.targCoilID,-1)
else:
self.toneEnQueueable.push(self.targCoilID,1)
def start(self, speed, direction):
PWM_py_pin = Pin(self.PWMpin)
DIR_py_pin = Pin(self.DIRpin, Pin.OUT_PP)
tim = Timer(self.timer_id, freq=1000)
ch = tim.channel(self.channel_id, Timer.PWM, pin=PWM_py_pin)
if direction in ('cw', 'CW', 'clockwise'):
DIR_py_pin.high()
elif direction in ('ccw', 'CCW', 'counterclockwise'):
DIR_py_pin.low()
else:
raise ValueError('Please enter CW or CCW')
if 0 <= speed <= 100:
ch.pulse_width_percent(speed)
else:
raise ValueError("Please enter a speed between 0 and 100")
self.isRunning = True
self.currentDirection = direction
self.currentSpeed = speed
class Relay(object):
"""Control a relay board with an output pin. Set on to True to drive the relay pin low
which turns the relay on."""
def __init__( self, pin ) :
"""Pin may be a pin name or pyb.Pin object set for output."""
if type(pin) == str:
self._pin = Pin(pin, Pin.OUT_PP, Pin.PULL_DOWN)
elif type(pin) == Pin:
self._pin = pin
else:
raise Exception("pin must be pin name or pyb.Pin")
self.on = False
@property
def on( self ) : return self._pin.value()
@on.setter
def on( self, value ) :
if value:
self._pin.low()
else:
self._pin.high()
def __init__(self):
# set up motor with PWM and timer control
self.A1 = Pin('X3',Pin.OUT_PP) # A is right motor
self.A2 = Pin('X4',Pin.OUT_PP)
self.B1 = Pin('X7',Pin.OUT_PP) # B is left motor
self.B2 = Pin('X8',Pin.OUT_PP)
self.PWMA = Pin('X1')
self.PWMB = Pin('X2')
self.speed = 0 # +100 full speed forward, -100 full speed back
self.turn = 0 # turn is +/-100; 0 = left/right same speed,
# ... +50 = left at speed, right stop, +100 = right back full
# Configure counter 2 to produce 1kHz clock signal
self.tim = Timer(2, freq = 1000)
# Configure timer to provide PWM signal
self.motorA = self.tim.channel(1, Timer.PWM, pin = self.PWMA)
self.motorB = self.tim.channel(2, Timer.PWM, pin = self.PWMB)
self.lsf = 0 # left motor speed factor +/- 1
self.rsf = 0 # right motor speed factor +/- 1
self.countA = 0 # speed pulse count for motorA
self.countB = 0 # speed pulse count for motorB
self.speedA = 0 # actual speed of motorA
self.speedB = 0 # actual speed of motorB
# Create external interrupts for motorA and motorB Hall Effect Senors
self.motorA_int = pyb.ExtInt ('Y4', pyb.ExtInt.IRQ_RISING, pyb.Pin.PULL_NONE,self.isr_motorA)
self.motorB_int = pyb.ExtInt ('Y6', pyb.ExtInt.IRQ_RISING, pyb.Pin.PULL_NONE,self.isr_motorB)
self.speed_timer = pyb.Timer(8, freq=10)
self.speed_timer.callback(self.isr_speed_timer)
class STAccel:
def __init__(self):
self.cs_pin = Pin('PE3', Pin.OUT_PP, Pin.PULL_NONE)
self.cs_pin.high()
self.spi = SPI(1, SPI.MASTER, baudrate=328125, polarity=0, phase=1, bits=8)
self.who_am_i = self.read_id()
if self.who_am_i == LIS302DL_WHO_AM_I_VAL:
self.write_bytes(LIS302DL_CTRL_REG1_ADDR, bytearray([LIS302DL_CONF]))
self.sensitivity = 18
elif self.who_am_i == LIS3DSH_WHO_AM_I_VAL:
self.write_bytes(LIS3DSH_CTRL_REG4_ADDR, bytearray([LIS3DSH_CTRL_REG4_CONF]))
self.write_bytes(LIS3DSH_CTRL_REG5_ADDR, bytearray([LIS3DSH_CTRL_REG5_CONF]))
self.sensitivity = 0.06 * 256
else:
raise Exception('LIS302DL or LIS3DSH accelerometer not present')
def convert_raw_to_g(self, x):
if x & 0x80:
x = x - 256
return x * self.sensitivity / 1000
def read_bytes(self, addr, nbytes):
if nbytes > 1:
addr |= READWRITE_CMD | MULTIPLEBYTE_CMD
else:
addr |= READWRITE_CMD
self.cs_pin.low()
self.spi.send(addr)
#buf = self.spi.send_recv(bytearray(nbytes * [0])) # read data, MSB first
buf = self.spi.recv(nbytes)
self.cs_pin.high()
return buf
def write_bytes(self, addr, buf):
if len(buf) > 1:
addr |= MULTIPLEBYTE_CMD
self.cs_pin.low()
self.spi.send(addr)
for b in buf:
self.spi.send(b)
self.cs_pin.high()
def read_id(self):
return self.read_bytes(WHO_AM_I_ADDR, 1)[0]
def x(self):
return self.convert_raw_to_g(self.read_bytes(OUT_X_ADDR, 1)[0])
def y(self):
return self.convert_raw_to_g(self.read_bytes(OUT_Y_ADDR, 1)[0])
def z(self):
return self.convert_raw_to_g(self.read_bytes(OUT_Z_ADDR, 1)[0])
def xyz(self):
return (self.x(), self.y(), self.z())
def __init__( self, forward, backward, speed ) :
"""forward pin name, backward pin name, speed = (pin name, timer#)
Need to make sure the given timer # is associated with the speed
pin or an exception will be raised. The speed pin must support
PWM."""
self._forward = Pin(forward, Pin.OUT_PP)
self._backward = Pin(backward, Pin.OUT_PP)
self._speedControl = PWM(speed[0], speed[1])
self._speed = 0
def check_joystick():
adc_1 = ADC(Pin('X19'))
adc_2 = ADC(Pin('X20'))
J_sw = Pin('Y11', Pin.IN)
while True:
print('Vertical: ',adc_1.read(), 'Horizontal: ', adc_2.read(), 'Switch: ',J_sw.value())
pyb.delay(2000)
def declare_channel(self, channel, direction):
try:
self.available_pins.index(channel)
if self._find_channel(channel):
return ;
pin = Pin(channel)
if direction:
pin.init(Pin.OUT_PP)
else:
pin.init(Pin.IN, Pin.PULL_UP)
self.channels += [pin]
except:
pass
def __init__(self,qq):
self.x1=Pin('Y9', Pin.IN, Pin.PULL_DOWN)
self.x2=Pin('Y7', Pin.IN, Pin.PULL_DOWN)
self.y1=Pin('Y10', Pin.IN, Pin.PULL_DOWN)
self.y2=Pin('Y8', Pin.IN, Pin.PULL_DOWN)
self.extInts = (ExtInt('Y9',
ExtInt.IRQ_RISING,
Pin.PULL_DOWN,
self.x11),
ExtInt('Y10',
ExtInt.IRQ_RISING,
Pin.PULL_DOWN,
self.y11))
def ultrasound():
Trigger = Pin('X3', Pin.OUT_PP)
Echo = Pin('X4',Pin.IN)
# Create a microseconds counter.
micros = pyb.Timer(2, prescaler=83, period=0x3fffffff)
micros.counter(0)
start = 0
end = 0
# Send a 20usec pulse every 10ms
while True:
Trigger.high()
pyb.udelay(20)
Trigger.low()
# Wait until pulse starts
while Echo.value() == 0: # do nothing
start = micros.counter() # mark time at rising edge
# Wait until pulse goes low
while Echo.value() == 1: # do nothing
end = micros.counter() # mark time at falling edge
# Duration echo pulse = end - start
# Divide this by 2 to take account of round-trip
# Speed of sound in air is 340 m/s or 29 us/cm
# Distance in cm = (pulse_width)*0.5/29
distance = int(((end - start) / 2) / 29)
print('Distance: ', distance, ' cm')
pyb.delay(500)
def flash_LEDs():
rLED = Pin('Y9', Pin.OUT_PP)
bLED = Pin('Y10',Pin.OUT_PP)
while True:
rLED.high()
pyb.delay(250)
bLED.high()
pyb.delay(250)
rLED.low()
pyb.delay(250)
bLED.low()
pyb.delay(250)
class TrackBall:
def __init__(self,qq):
self.volEnQueueable = EnQueueable((EnQueueable.INC,EnQueueable.VOL),qq)
self.toneEnQueueable = EnQueueable((EnQueueable.INC,EnQueueable.TONE),qq)
self.targCoilID = 0;
self.x1=Pin(State.trackballStateDict['x1'], Pin.IN, Pin.PULL_DOWN)
self.x2=Pin(State.trackballStateDict['x2'], Pin.IN, Pin.PULL_DOWN)
self.y1=Pin(State.trackballStateDict['y1'], Pin.IN, Pin.PULL_DOWN)
self.y2=Pin(State.trackballStateDict['y2'], Pin.IN, Pin.PULL_DOWN)
self.extInts = (ExtInt(State.trackballStateDict['x1'],
ExtInt.IRQ_RISING,
Pin.PULL_DOWN,
self.x11),
ExtInt(State.trackballStateDict['y1'],
ExtInt.IRQ_RISING,
Pin.PULL_DOWN,
self.y11))
def x11(self,unused):
if self.x2.value():
irq_state = disable_irq()
self.volEnQueueable.push(self.targCoilID,-1)
enable_irq(irq_state)
else:
irq_state = disable_irq()
self.volEnQueueable.push(self.targCoilID,1)
enable_irq(irq_state)
def y11(self,unused):
if self.y2.value():
irq_state = disable_irq()
self.toneEnQueueable.push(self.targCoilID,-1)
enable_irq(irq_state)
else:
irq_state = disable_irq()
self.toneEnQueueable.push(self.targCoilID,1)
enable_irq(irq_state)
def __repr__(self):
res = 'TrackBall:' + \
'\nvolEnQueueable: \t' + repr(self.volEnQueueable) + \
'\ntoneEnQueueable:\t' + repr(self.toneEnQueueable) + \
'\ntargCoilID: \t' + str(self.targCoilID) + \
'\nx1: \t' + str(self.x1) + \
'\nx2: \t' + str(self.x2) + \
'\ny1: \t' + str(self.y1) + \
'\ny2: \t' + str(self.y2) #+ \
#'\nExtInts: \t' + str([i for i in self.extInts])
return res
def __init__(self):
self.cs_pin = Pin('PE3', Pin.OUT_PP, Pin.PULL_NONE)
self.cs_pin.high()
self.spi = SPI(1, SPI.MASTER, baudrate=328125, polarity=0, phase=1, bits=8)
self.write_bytes(LIS302DL_CTRL_REG1_ADDR, bytearray([LIS302DL_CONF]))
if self.read_id() != LIS302DL_WHO_AM_I_VAL:
raise Exception('LIS302DL accelerometer not present')
def __init__(self,qq):
self.volEnQueueable = EnQueueable((EnQueueable.INC,EnQueueable.VOL),qq)
self.toneEnQueueable = EnQueueable((EnQueueable.INC,EnQueueable.TONE),qq)
self.targCoilID = 0;
self.x1=Pin(State.trackballStateDict['x1'], Pin.IN, Pin.PULL_DOWN)
self.x2=Pin(State.trackballStateDict['x2'], Pin.IN, Pin.PULL_DOWN)
self.y1=Pin(State.trackballStateDict['y1'], Pin.IN, Pin.PULL_DOWN)
self.y2=Pin(State.trackballStateDict['y2'], Pin.IN, Pin.PULL_DOWN)
self.extInts = (ExtInt(State.trackballStateDict['x1'],
ExtInt.IRQ_RISING,
Pin.PULL_DOWN,
self.x11),
ExtInt(State.trackballStateDict['y1'],
ExtInt.IRQ_RISING,
Pin.PULL_DOWN,
self.y11))
def __init__(self, bus=1, baudrate=328125, polarity=0, phase=0, ss='A4'):
self.ss = Pin(ss, Pin.OUT)
self.ss.high()
self.spi = SPI(bus, SPI.MASTER, baudrate=baudrate, polarity=polarity,
phase=phase)
self.msgbuf = bytearray(32)
self.status = bytearray(4)
def __init__(self, cs='PE3', spi=1, debug=False):
self._debug = debug
self.cs_pin = Pin(cs, Pin.OUT_PP, Pin.PULL_NONE)
self.cs_pin.high()
self.spi = SPI(spi, SPI.MASTER, baudrate=328125, polarity=0, phase=1,
bits=8)
self.read_id()
# First SPI read always returns 255 --> discard and read ID again
self.who_am_i = self.read_id()
self.debug("Accel-ID: %s" % self.who_am_i)
if self.who_am_i == LIS302DL_WHO_AM_I_VAL:
self.write_bytes(LIS302DL_CTRL_REG1_ADDR, LIS302DL_CONF)
self.sensitivity = 18
elif self.who_am_i == LIS3DSH_WHO_AM_I_VAL:
self.write_bytes(LIS3DSH_CTRL_REG4_ADDR, LIS3DSH_CTRL_REG4_CONF)
self.write_bytes(LIS3DSH_CTRL_REG5_ADDR, LIS3DSH_CTRL_REG5_CONF)
self.sensitivity = 0.06 * 256
else:
msg = 'LIS302DL or LIS3DSH accelerometer not present'
if self._debug:
self.debug(msg)
else:
raise IOError(msg)
class UltraSonicMeter(object):
def __init__(self):
self.tmp = self.time = 0
self.cnt = 0
self.fr = 0
self.trig = Pin('X12', Pin.OUT_PP, Pin.PULL_NONE)
echoR = Pin('X1', Pin.IN, Pin.PULL_NONE)
echoF = Pin('X2', Pin.IN, Pin.PULL_NONE)
self.micros = pyb.Timer(5, prescaler=83, period=0x3fffffff)
self.timer = Timer(2, freq=1000)
self.timer.period(3600)
self.timer.prescaler(1375)
self.timer.callback(lambda e: self.run_trig())
extR = ExtInt(echoR, ExtInt.IRQ_RISING, Pin.PULL_NONE, self.start_count)
extF = ExtInt(echoF, ExtInt.IRQ_FALLING, Pin.PULL_NONE, self.read_dist)
def run_trig(self):
self.trig.high()
pyb.udelay(1)
self.trig.low()
def start_count(self, line):
self.micros.counter(0)
self.time = self.micros.counter()
self.timer.counter(0)
def read_dist(self, line):
end = self.micros.counter()
micros = end-self.time
distP1 = micros//5
distP2 = micros//6
distP3 = (distP1-distP2)//10*2
dist = distP2+distP3
if dist != 0:
self.cnt += 1
self.fr += dist
if self.cnt == 15:
tmp = self.tmp
dist = self.fr//self.cnt
if tmp != dist:
print(dist, 'mm')
self.tmp = dist
self.cnt = 0
self.fr = 0
class STAccel:
def __init__(self):
self.cs_pin = Pin('PE3', Pin.OUT_PP, Pin.PULL_NONE)
self.cs_pin.high()
self.spi = SPI(1, SPI.MASTER, baudrate=328125, polarity=0, phase=1, bits=8)
self.write_bytes(LIS302DL_CTRL_REG1_ADDR, bytearray([LIS302DL_CONF]))
if self.read_id() != LIS302DL_WHO_AM_I_VAL:
raise Exception('LIS302DL accelerometer not present')
def read_bytes(self, addr, nbytes):
if nbytes > 1:
addr |= READWRITE_CMD | MULTIPLEBYTE_CMD
else:
addr |= READWRITE_CMD
self.cs_pin.low()
self.spi.send(addr)
#buf = self.spi.send_recv(bytearray(nbytes * [0])) # read data, MSB first
buf = self.spi.recv(nbytes)
self.cs_pin.high()
return buf
def write_bytes(self, addr, buf):
if len(buf) > 1:
addr |= MULTIPLEBYTE_CMD
self.cs_pin.low()
self.spi.send(addr)
for b in buf:
self.spi.send(b)
self.cs_pin.high()
def read_id(self):
return self.read_bytes(LIS302DL_WHO_AM_I_ADDR, 1)[0]
def x(self):
return convert_raw_to_g(self.read_bytes(LIS302DL_OUT_X, 1)[0])
def y(self):
return convert_raw_to_g(self.read_bytes(LIS302DL_OUT_Y, 1)[0])
def z(self):
return convert_raw_to_g(self.read_bytes(LIS302DL_OUT_Z, 1)[0])
def xyz(self):
val = self.read_bytes(LIS302DL_OUT_X, 5)
return [convert_raw_to_g(val[0]),
convert_raw_to_g(val[2]),
convert_raw_to_g(val[4])]
def __init__(self, index):
timer = timers[rc_pins_timers[index]]
self.pin = Pin(rc_pins[index])
self.channel = timer.channel(rc_pins_channels[index],
Timer.IC,
pin=self.pin,
polarity=Timer.BOTH)
self.channel.callback(self.callback)
class JoyStick:
# expo formula
# ouput =((EXPO*POW(input,3))+((1-EXPO)*input))*RATE
# where input & output are on [-1,1]
def __init__(self,xp,yp, pbp, pbFunc): # last arg is a pointer to the interrupt handler
self.XPin = ADC(Pin(xp))
self.YPin = ADC(Pin(yp))
self.PBPin = Pin(pbp, Pin.IN, Pin.PULL_UP)
self.maxAnalog = 4095
self.minAnalog = 0
self.maxOutput = 100
self.minOutput = -100
self.pinExpo = 25
self.onPB = pbFunc
self.changeDelta = 400 # ms
self.lastChangeTime = 0 # ms
self._calibrateXY()
def _calibrateXY(self):
xSum = 0
ySum = 0
for i in range(100):
xSum += self.XPin.read()
ySum += self.YPin.read()
self.X0 = round(xSum/100.0)
self.Y0 = round(ySum/100.0)
def checkPB(self):
now = time.ticks_ms()
if now-self.lastChangeTime > self.changeDelta:
if not self.PBPin.value():
self.onPB()
self.lastChangeTime = now
def _read(self, x):
pin = self.XPin
V0 = self.X0
if not x:
pin = self.YPin
V0 = self.Y0
val = pin.read()
if abs(val - V0) < self.pinExpo:
return(0)
return arduino_map(val,V0,self.maxAnalog,0,self.maxOutput) \
if val > self.X0 else \
arduino_map(val,self.minAnalog,V0,self.minOutput,0)
def readX(self):
return self._read(True)
def readY(self):
return self._read(False)
def __init__(self, width, height, depth, red, green, blue, a, b, c, d, clk, latch, oe):
self.__width = width
self.__bwidth = width//4*3
self.__height = height
self.__BYTES_PER_WEIGHT= 3*width*height>>3
self.__BITPERCOLOR = depth
self.__red = tuple(Pin(i, Pin.OUT_PP) for i in red)
self.__green = tuple(Pin(i, Pin.OUT_PP) for i in green)
self.__blue = tuple(Pin(i, Pin.OUT_PP) for i in blue)
self.__color = list(Pin(i, Pin.OUT_PP) for i in color_sel)
self.__color.extend(list(Pin(i, Pin.OUT_PP) for i in green))
self.__color.extend(list(Pin(i, Pin.OUT_PP) for i in blue))
print(self.__color)
self.__a = Pin(a, Pin.OUT_PP)
self.__b = Pin(b, Pin.OUT_PP)
self.__c = Pin(c, Pin.OUT_PP)
self.__d = None
self.__cycle_max = 8
if d is not None:
self.__d = Pin(d, Pin.OUT_PP)
self.__cycle_max = 16
self.__clk = Pin(clk, Pin.OUT_PP)
self.__latch = Pin(latch, Pin.OUT_PP)
self.__oe = Pin(oe, Pin.OUT_PP)
self.__buffer = bytearray(self.__width*self.__height*2)
self.__next_linenr = 0
self.__next_ln2weight = 1
self.__set_hi = []
self.__set_lo = []
if self.DEBUG:
print(self)
def __init__(self,spiOnX,latchPin):
# create an SPI.MASTER instance on the 'X' side of the board,
# first arg=1 means 'X side' of the board
boardSide = 1
if not spiOnX:
boardSide = 2
self.spi = SPI(boardSide,SPI.MASTER)
# create the stcp pin on the "latch" pin
self.stcp = Pin(latchPin, Pin.OUT_PP)
def __init__(self, ControlPin1, ControlPin2, PWMpin, STBYpin):
self.ControlPin1 = ControlPin1
self.ControlPin2 = ControlPin2
self.PWMpin = PWMpin
self.STBYpin = STBYpin
self.isRunning = False
self.currentDirection = None
self.currentSpeed = 0
# Set up the GPIO pins as output
self.STBYpin = Pin(self.STBYpin, Pin.OUT_PP)
# GPIO.setup(self.STBYpin, GPIO.OUT)
self.ControlPin1 = Pin(self.ControlPin1, Pin.OUT_PP)
# GPIO.setup(self.ControlPin1, GPIO.OUT)
self.ControlPin2 = Pin(self.ControlPin2, Pin.OUT_PP)
# GPIO.setup(self.ControlPin2, GPIO.OUT)
self.PWMpin = Pin(self.PWMpin)
tim = Timer(2, freq=1000)
ch = tim.channel(4, Timer.PWM, pin=self.PWMpin)
def __init__( self, pin ) :
"""Pin may be a pin name or pyb.Pin object set for output."""
if type(pin) == str:
self._pin = Pin(pin, Pin.OUT_PP, Pin.PULL_DOWN)
elif type(pin) == Pin:
self._pin = pin
else:
raise Exception("pin must be pin name or pyb.Pin")
self.on = False
def __init__(self, uart_num, pin_rw, dev_id):
self.error = []
self.uart = UART(uart_num)
self.uart.init(57600, bits=8, parity=0, timeout=10, read_buf_len=64)
self.pin_rw = Pin(pin_rw)
self.pin_rw.init(Pin.OUT_PP)
self.pin_rw.value(0)
self.dev_id = dev_id
self.file_parts = 0
self.file_parts_i = 1
self.file_is_open = False
def init(timer_id=2, data_pin='Y2', the_dhttype='DHT22'):
global _dataDHT
global micros
global timer
global dhttype
if (the_dhttype == 'DHT11'):
dhttype = 0
else:
dhttype = 1
# Configure the pid for data communication
_dataDHT = Pin(data_pin)
# Save the ID of the timer we are going to use
_dataDHT = timer_id
# setup the 1uS timer
micros = pyb.Timer(timer, prescaler=83, period=0x3fffffff) # 1MHz ~ 1uS
# Prepare interrupt handler
ExtInt(_dataDHT, ExtInt.IRQ_FALLING, Pin.PULL_UP, None)
ExtInt(_dataDHT, ExtInt.IRQ_FALLING, Pin.PULL_UP, _interuptHandler)
_dataDHT.high()
pyb.delay(250)
def __init__( self, tpin, epin, timer=2 ) :
""" """
if type(tpin) == str:
self._tpin = Pin(tpin, Pin.OUT_PP, Pin.PULL_NONE)
elif type(tpin) == Pin:
self._tpin = tpin
else:
raise Exception("trigger pin must be pin name or pyb.Pin configured for output.")
self._tpin.low()
if type(epin) == str:
self._epin = Pin(epin, Pin.IN, Pin.PULL_NONE)
elif type(epin) == Pin:
self._epin = epin
else:
raise Exception("echo pin must be pin name or pyb.Pin configured for input.")
# Create a microseconds counter.
self._micros = Timer(timer, prescaler=83, period=0x3fffffff)
def reset(self):
""" Reset the module, then check it's working. """
print ("Initialising RFM...")
self.nss.high()
self.reset_pin = Pin('X4', Pin.OUT_PP)
self.reset_pin.low()
sleep(0.1)
self.reset_pin.high()
sleep(0.1)
self.reset_pin.low()
sleep(0.1)
def init(self, type=BLE_SHIELD):
self.deinit()
if type==self.BLE_SHIELD:
self.rst=Pin("P7",Pin.OUT_OD,Pin.PULL_NONE)
self.uart=UART(3,115200,timeout_char=1000)
self.type=self.BLE_SHIELD
self.rst.low()
sleep(100)
self.rst.high()
sleep(100)
self.uart.write("set sy c m machine\r\nsave\r\nreboot\r\n")
sleep(1000)
self.uart.readall() # clear
class TrackBall:
def __init__(self,qq):
self.x1=Pin('Y9', Pin.IN, Pin.PULL_DOWN)
self.x2=Pin('Y7', Pin.IN, Pin.PULL_DOWN)
self.y1=Pin('Y10', Pin.IN, Pin.PULL_DOWN)
self.y2=Pin('Y8', Pin.IN, Pin.PULL_DOWN)
self.extInts = (ExtInt('Y9',
ExtInt.IRQ_RISING,
Pin.PULL_DOWN,
self.x11),
ExtInt('Y10',
ExtInt.IRQ_RISING,
Pin.PULL_DOWN,
self.y11))
def x11(self,unused):
if self.x2.value():
print('X axis:\t-1')
else:
print('X axis:\t+1')
def y11(self,unused):
if self.y2.value():
print('Y axis:\t-1')
else:
print('Y axis:\t+1')
def __repr__(self):
res = 'TrackBall:' + \
'\nvolEnQueueable: \t' + repr(self.volEnQueueable) + \
'\ntoneEnQueueable:\t' + repr(self.toneEnQueueable) + \
'\ntargCoilID: \t' + str(self.targCoilID) + \
'\nx1: \t' + str(self.x1) + \
'\nx2: \t' + str(self.x2) + \
'\ny1: \t' + str(self.y1) + \
'\ny2: \t' + str(self.y2) + \
'\nExtInts: \t' + str([i for i in self.extInts])
return res
sensor.__write_reg(0x3026, 0x00)
sensor.__write_reg(0x3027, 0x00)
sensor.__write_reg(0x3028, 0x00)
sensor.__write_reg(0x3029, 0x7f)
sensor.__write_reg(0x3000, 0x00)
while (True):
result = sensor.__read_reg(0x3029)
print('FW_STATUS: %X' % result)
if result != 0x7F:
break
sleep(500)
blue_led = LED(1)
KEY = Pin('C13', Pin.IN, Pin.PULL_DOWN)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
if sensor.get_id() != sensor.OV5640:
print('Only run for ov5640')
sys.exit(0)
print('ov5640 AF Firmware Init ...')
OV5640AF_Init()
clock = time.clock()
keycount = 0
import time
from pyb import Pin, SPI
cs = Pin("P3", Pin.OUT)
rst = Pin("P4", Pin.OUT)
dc = Pin("P5", Pin.OUT)
# The hardware SPI bus for your OpenMV Cam is always SPI bus 2.
spi = SPI(1, SPI.MASTER, baudrate=50000000, polarity=0, phase=0)
TFT_DISPLAY_DIR = 2
#0 竖屏模式
#1 竖屏模式 旋转180
#2 横屏模式
#3 横屏模式 旋转180
if TFT_DISPLAY_DIR < 2:
TFT_X_MAX = 128
TFT_Y_MAX = 160
else:
TFT_X_MAX = 160
TFT_Y_MAX = 128
TFT_BLACK = 0X0000 #黑色
TFT_WHITE = 0XFFFF #白色
TFT_RED = 0XF800 #红色
TFT_GREEN = 0X0F01 #绿色
TFT_BLUE = 0X085F #蓝色
TFT_PINK = 0XF81F #粉紫
TFT_YELLOW = 0XFFE0 #黄色
TFT_CYAN = 0X07FF #青色
TFT_ORANGE = 0XFBE0 #橙色
#定义写字笔的颜色
PENCOLOR = 0XFFFF
from pyb import Pin
pin = Pin("D8", Pin.OUT_PP) # En sortie "classique" (push-pull)
pin.on() # Etat haut (3,3 V)
#pin.off() # Etat bas (0 V)
def __init__(self, out1, out2, pwm, chan, tim): self.o1 = Pin(out1, Pin.OUT_PP) self.o2 = Pin(out2, Pin.OUT_PP) self.pwm = Pin(pwm) self.ch = tim.channel(chan, Timer.PWM, pin = self.pwm) self.speed = 50
'''
Example using the MAX14914PMB.
This scripts toggles output of MAX14914.
Created on 9.03.2021
@author: JH
'''
from pyb import Pin
import time
import logging
logger = logging.getLogger(__name__)
logger.info("MAX22191PMB example running")
DI1 = Pin(Pin.cpu.C1, Pin.OUT_PP)
DI2 = Pin(Pin.cpu.A7, Pin.OUT_PP)
while (True):
for cursor in '|/-\\':
DI1_lvl = DI1.value()
DI2_lvl = DI2.value()
text = cursor + " DI1 state: " + str(DI1_lvl) + "; DI2 state: " + str(
DI2_lvl)
print(text, end='\r')
time.sleep(0.2)
micropython.alloc_emergency_exception_buf(100)
# I2C connected to Y9, Y10 (I2C bus 2) and Y11 is reset low active
oled = OLED_938(pinout={
'sda': 'Y10',
'scl': 'Y9',
'res': 'Y8'
},
height=64,
external_vcc=False,
i2c_devid=61)
oled.poweron()
oled.init_display()
# define ports for microphone, LEDs and trigger out (X5)
mic = ADC(Pin('Y11'))
MIC_OFFSET = 1523 # ADC reading of microphone for silence
dac = pyb.DAC(1, bits=12) # Output voltage on X5 (BNC) for debugging
b_LED = LED(4) # flash for beats on blue LED
N = 160 # size of sample buffer s_buf[]
s_buf = array('H', 0 for i in range(N)) # reserve buffer memory
ptr = 0 # sample buffer index pointer
buffer_full = False # semaphore - ISR communicate with main program
def flash(): # routine to flash blue LED when beat detected
b_LED.on()
pyb.delay(20)
b_LED.off()
#main.py
import pyb
from pyb import Pin
from ds18b20 import DS18X20
DQ = DS18X20(Pin('PD4')) #DQ
while True:
tem = DQ.read_temp()
print(tem)
pyb.delay(1000)
from pyb import Pin, ADC
from ds18b20 import DS18X20
gl = ADC(Pin('Y12')) #300亮-1700暗
sd = ADC(Pin('Y11')) #1800干-800湿
wd = DS18X20(Pin('Y10'))
ks = Pin('Y9', Pin.OUT_PP)
jr = Pin('Y8', Pin.OUT_PP)
while True:
print('\t光照强度:',gl.read(),'\t土壤湿度:',sd.read(),'\t当前温度:',wd.read_temp())
pyb.delay(200)
if gl.read()<=250 : #阳光充足
if sd.read()>800 : #多浇水
ks.value(1)
else :
ks.value(0)
elif gl.read()>=1300 : #阳光不足
if sd.read()>1200 : #少浇水
ks.value(1)
else :
ks.value(0)
else : #阳光一般
if sd.read()>1000 : #正常浇水
ks.value(1)
else :
ks.value(0)
if wd.read_temp()<18 : #温度过低
jr.value(1)
else :
jr.value(0)
def sw2_callback(pin):
print(pin)
sw2 = Pin.board.SW2
sw2_af = sw2.af_list()
#sw2 already in inport mode
print(sw2)
print(sw2.af_list())
#set pin to alterate function
#d1 = Pin(Pin.board.D1, Pin.ALT, alt = 0)
#d1 = Pin(Pin.board.D1, Pin.ALT, alt = Pin.AF_PB3_EADC0_CH3)
sw2.irq(handler=sw2_callback, trigger=Pin.IRQ_RISING)
#change ledr to output mode
r = Pin('LEDR', Pin.OUT)
#r = Pin('LEDR', Pin.OUT, pull = None, value = 0) #Defalut output low
print(r)
print(r.af_list())
while True:
pin_value = sw2.value()
if pin_value == 0:
print('key press')
break
print('demo done')
class DS18X20(object):
def __init__(self, pin):
self.ow = OneWire(pin)
# Scan the 1-wire devices, but only keep those which have the
# correct # first byte in their rom for a DS18x20 device.
self.CLK = Pin("Y11", Pin.OUT_PP)
self.roms = [
rom for rom in self.ow.scan() if rom[0] == 0x10 or rom[0] == 0x28
]
def read_temp(self, rom=None):
"""
Read and return the temperature of one DS18x20 device.
Pass the 8-byte bytes object with the ROM of the specific device you want to read.
If only one DS18x20 device is attached to the bus you may omit the rom parameter.
"""
self.CLK.high()
self.CLK.low()
rom = rom or self.roms[0]
ow = self.ow
ow.reset()
ow.select_rom(rom)
ow.write_byte(0x44) # Convert Temp
while True:
if ow.read_bit():
break
ow.reset()
ow.select_rom(rom)
ow.write_byte(0xbe) # Read scratch
data = ow.read_bytes(9)
return self.convert_temp(rom[0], data)
def read_temps(self):
"""
Read and return the temperatures of all attached DS18x20 devices.
"""
temps = []
for rom in self.roms:
temps.append(self.read_temp(rom))
return temps
def convert_temp(self, rom0, data):
"""
Convert the raw temperature data into degrees celsius and return as a float.
"""
temp_lsb = data[0]
temp_msb = data[1]
if rom0 == 0x10:
if temp_msb != 0:
# convert negative number
temp_read = temp_lsb >> 1 | 0x80 # truncate bit 0 by shifting, fill high bit with 1.
temp_read = -((~temp_read + 1) & 0xff
) # now convert from two's complement
else:
temp_read = temp_lsb >> 1 # truncate bit 0 by shifting
count_remain = data[6]
count_per_c = data[7]
temp = temp_read - 0.25 + (count_per_c -
count_remain) / count_per_c
return temp
elif rom0 == 0x28:
return (temp_msb << 8 | temp_lsb) / 16
else:
assert False
# Voir class FrameBuffer pour les méthodes d'écriture et de dessin
from pyb import Pin
from machine import I2C
from ssd1306 import SSD1306_I2C
i2c = I2C(scl=Pin('SCL'), sda=Pin('SDA'))
oled = SSD1306_I2C(128, 32, i2c, 0x3c)
oled.fill(0)
oled.text("Hello David", 0, 0)
oled.text("R =", 0, 10)
oled.show()
class Motor: def __init__(self, out1, out2, pwm, chan, tim): self.o1 = Pin(out1, Pin.OUT_PP) self.o2 = Pin(out2, Pin.OUT_PP) self.pwm = Pin(pwm) self.ch = tim.channel(chan, Timer.PWM, pin = self.pwm) self.speed = 50 def forward(self): self.o1.high() self.o2.low() self.ch.pulse_width_percent(self.speed) def stop(self): self.o1.low() self.o2.low() self.ch.pulse_width_percent(0) def backward(self): self.o1.low() self.o2.high() self.
# Detection sound intensity
# Hardware : SoundSensor, OpenMV
# connect:
# SoundSensor OpenMV
# VCC 3V3
# GND GND
# data P6
from pyb import ADC,Pin
import time
adc0=ADC(Pin('P6')) # Connect sensor to 'P6', Must always be "P6".
while True:
val=adc0.read() # Read data
print(val)
time.sleep(100)
import pyb
from pyb import *
from pyb import Pin, ADC, Timer
print('ms2+ms3_taking_penalty')
print('group 15: Fan & Grace')
# Variable --------------------------------------------------
speed = 50 # standard driving speed
# Defining the motor modules and servo--------------------------------------
A1 = Pin('Y9', Pin.OUT_PP) # motor A is on the RHS of the vehicle
A2 = Pin('Y10', Pin.OUT_PP)
motor1 = Pin('X1')
B1 = Pin('Y11', Pin.OUT_PP) # motor B is on the LHS of the vehicle
B2 = Pin('Y12', Pin.OUT_PP)
motor2 = Pin('X2')
tim = Timer(2, freq=1000)
ch1 = tim.channel(1, Timer.PWM, pin=motor1)
ch2 = tim.channel(2, Timer.PWM, pin=motor2)
servo = Servo(3) # servo on position 3 (X3, VIN, GND)
# Defining button functions--------------------------------------------------
def stop():
ch1.pulse_width_percent(0) # send a pulse of width 0% to motor A
ch2.pulse_width_percent(0) # send a pulse of width 0% to motor B
import sensor, image, time, math, pyb
from pyb import Pin
p_out = Pin('P1', Pin.OUT)
p_out.low()
po = Pin('P2', Pin.OUT)
po.low()
s1 = pyb.Servo(1)
s2 = pyb.Servo(2)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
clock = time.clock()
while (True):
clock.tick()
img = sensor.snapshot()
img.lens_corr(1.8)
matrices = img.find_datamatrices()
for matrix in matrices:
img.draw_rectangle(matrix.rect(), color=(255, 0, 0))
print_args = (matrix.rows(), matrix.columns(), matrix.payload(),
(180 * matrix.rotation()) / math.pi, clock.fps())
print("Matrix [%d:%d], Payload \"%s\", rotation %f (degrees), FPS %f" %
print_args)
from pyb import Pin, ADC
from math import log
from time import sleep_ms
adc = ADC(Pin("A2")) # Déclaration de l'ADC sur la broche A0
Ro = 10e3 # Résistance série
A = 0.0010832035972923174 # Coeff. de Steinhart-Hart
B = 0.00021723460553451255 # ...
C = 3.276999926128753e-07 # ...
while True:
N = adc.read() # Mesure de la tension
R = Ro * N / (4095 - N) # Calcul de R_CTN
T = 1 / (A + B * log(R) +
C * log(R)**3) - 273.15 # Relation de Steinhart-Hart
print("R =", R, "T =", T) # Affichage
sleep_ms(1000) # Temporisation
def __init__(self):
self.adc = ADC(Pin('rINC'))
self._timer = Timer(7, freq=100)
self._buffer = bytearray(10)
'''
-------------------------------------------------------
Name: main
Creator: Higor Alves
-------------------------------------------------------
'''
import pyb
from pyb import Pin, LED
# Configure X2:4, X7 as setting input pin - pull_up to receive switch settings
s0=Pin('Y3',pyb.Pin.IN,pyb.Pin.PULL_UP)
s1=Pin('X6',pyb.Pin.IN,pyb.Pin.PULL_UP)
r_LED = LED(1)
g_LED = LED(2)
y_LED = LED(3)
b_LED = LED(4)
'''
Define various test functions
'''
def read_sw():
value = 3 - (s0.value() + 2*s1.value())
if (not s0.value()):
y_LED.on()
if (not s1.value()):
g_LED.on()
return value
if read_sw() == 0:
print('Running Milestone 1: BLE Control')
ballThreshold = [(52, 94, 9, 76, -44, 57)]
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
sensor.set_brightness(-2)
clock = time.clock()
# Only blobs that with more pixels than "pixel_threshold" and more area than "area_threshold" are
# returned by "find_blobs" below. Change "pixels_threshold" and "area_threshold" if you change the
# camera resolution. "merge=True" merges all overlapping blobs in the image.
p0 = Pin('P0', Pin.OUT_PP, Pin.PULL_NONE
) # p0, p1 11 - straight 10 - left 01 - right 00 - do not see
p1 = Pin('P1', Pin.OUT_PP, Pin.PULL_NONE)
initPin = Pin('P2', Pin.IN, Pin.PULL_NONE) #initialize input
proxValuePin = Pin('P3', Pin.IN, Pin.PULL_NONE) #proximity sensor input
seeBallPin = Pin('P4', Pin.OUT_PP, Pin.PULL_NONE) #have ball or not output
diagPin = Pin('P5', Pin.OUT_PP, Pin.PULL_NONE)
isInitialized = False
def initialize():
while (True):
print("Trying to Initialize")
img = sensor.snapshot()
goalBlobs = img.find_blobs(goalThresholds,
pixels_threshold=100,
# main.py -- put your code here!
from pyb import SPI, Pin, LED, delay, UART
push_button = pyb.Pin("PA0", pyb.Pin.IN, pyb.Pin.PULL_DOWN)
uart = UART(2, 115200)
CS = Pin("PE3", Pin.OUT_PP)
SPI_1 = SPI(
1,
SPI.MASTER,
baudrate=50000,
polarity=0,
phase=0,
)
CS.low()
SPI_1.send(0x0F | 0x80)
tab_values = SPI_1.recv(1)
CS.high()
value = tab_values[0]
while True:
uart.write(value)
class can_tmcl_interface(tmcl_interface, tmcl_host_interface):
def __init__(self,
port=2,
data_rate=None,
host_id=2,
module_id=1,
debug=False,
can_mode=CanModeNormal()):
del data_rate
tmcl_interface.__init__(self, host_id, module_id, debug)
tmcl_host_interface.__init__(self, host_id, module_id, debug)
self.__silent = Pin(Pin.cpu.B14, Pin.OUT_PP)
self.__mode = can_mode
self.__flag_recv = False
self.__set_mode()
CAN.initfilterbanks(14)
self.__can = CAN(port, CAN.NORMAL)
# PCLK1 = 42 MHz, Module_Bitrate = 1000 kBit/s
# With prescaler = 3, bs1 = 11, bs2 = 2
# Sample point at 85.7 %, accuracy = 100 %
self.__can.init(CAN.NORMAL,
prescaler=3,
bs1=11,
bs2=2,
auto_restart=True)
self.__can.setfilter(0, CAN.LIST16, 0,
(host_id, host_id, host_id, host_id))
self.__can.rxcallback(0, self.__callback_recv)
def __enter__(self):
return self
def __exit__(self, exitType, value, traceback):
del exitType, value, traceback
self.close()
def close(self):
pass
def data_available(self, hostID=None, moduleID=None):
del hostID, moduleID
return self.__can.any(0)
def _send(self, hostID, moduleID, data):
del hostID, moduleID
self.__can.send(data[1:], data[0])
def __callback_recv(self, bus, reason):
if (reason != 0):
pass
self.__flag_recv = True
def _recv(self, hostID, moduleID):
del hostID, moduleID
while (not (self.__flag_recv)):
pass
self.__flag_recv = False
received = self.__can.recv(0, timeout=1000)
read = struct.pack("B", received[0]) + received[3]
return read
def printInfo(self):
pass
def enableDebug(self, enable):
self._debug = enable
def set_mode(self, mode):
self.__mode = mode
self.__set_mode()
def get_mode(self):
return self.__mode
def __set_mode(self):
if (isinstance(self.__mode, CanModeNormal)):
self.__silent.low()
elif (isinstance(self.__mode, CanModeSilent)):
self.__silent.high()
elif (isinstance(self.__mode, CanModeOff)):
pass # Not supported by TJA1051T/3
def get_can(self):
return self.__can
@staticmethod
def supportsTMCL():
return True
@staticmethod
def supportsCANopen():
return False
@staticmethod
def available_ports():
return set([2])
from pyb import Pin, Timer
p = Pin('X1') # X1 has TIM2, CH1
tim = Timer(2, freq=1000)
ch = tim.channel(1, Timer.PWM, pin=p)
ch.pulse_width_percent(50)
import machine, network, ubinascii, ujson, urequests, utime
from pyb import Pin
pin1 = Pin('Y4', Pin.IN)
pin2 = Pin('Y3', Pin.IN)
runPin = Pin('X3', Pin.OUT)
class Encoder(object):
def __init__(self, pin_x, pin_y, reverse, scale):
self.reverse = reverse
self.scale = scale
self.forward = True
self.pin_x = pin_x
self.pin_y = pin_y
self._pos = 0
self.x_interrupt = pyb.ExtInt(pin_x, pyb.ExtInt.IRQ_RISING_FALLING,
pyb.Pin.PULL_NONE, self.x_callback)
self.y_interrupt = pyb.ExtInt(pin_y, pyb.ExtInt.IRQ_RISING_FALLING,
pyb.Pin.PULL_NONE, self.y_callback)
def x_callback(self, line):
self.forward = self.pin_x.value() ^ self.pin_y.value() ^ self.reverse
self._pos += 1 if self.forward else -1
def y_callback(self, line):
self.forward = self.pin_x.value() ^ self.pin_y.value(
) ^ self.reverse ^ 1
self._pos += 1 if self.forward else -1
@property
import math
import json
import sys
from pyb import Pin
import utime
sys.path.append('/Localization')
sys.path.append('/tools')
from robot import Robot
from field import Field
from median import median
from ParticleFilter import updatePF, ParticleFilter
pin9 = Pin('P9', Pin.IN, Pin.PULL_UP)
pin3 = Pin('P3', Pin.IN, Pin.PULL_UP)
pin2 = Pin('P2', Pin.IN, Pin.PULL_UP)
class Localization:
def __init__(self, x, y, yaw, side, button=True):
b_time = utime.ticks_ms()
print(b_time)
side_loop = 0
side = False
while (side_loop == 0):
if (pin9.value() == 0): # нажатие на кнопку на голове
side_loop = 1
side = True
print("I will attack blue goal")
break
# Detect infrared (IR) of people/ animals in motion
# Hardware : PIRMotionSensor, OpenMV
# connect:
# PIRMotionSensor OpenMV
# VCC 3V3
# GND GND
# data P0
from pyb import Pin, LED
import time
ir = Pin('P0', Pin.IN) # Connect sensor to 'P0'
led = LED(1)
while (1):
state = ir.value() # Read value of ir
if (state != 0):
led.on()
print("Somebody is in this area!")
else:
led.off()
print("No one!")
time.sleep(500)
import pyb
from pyb import LED, DAC, ADC, Pin
from oled_938 import OLED_938
from mpu6050 import MPU6050
# Define various ports, pins and peripherals
a_out = DAC(1, bits=12)
pot = ADC(Pin('X11'))
b_LED = LED(4)
# Use OLED to say what it is doing
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, 'Measure pitch and pitch_dot')
oled.draw_text(0,20, 'CCW: pitch (deg)')
oled.draw_text(0,30, 'CW: pitch_dot (deg/s)')
oled.display()
# IMU connected to X9 and X10
imu = MPU6050(1, False)
# Pitch angle calculation using complementary filter
def pitch_estimate(pitch, dt, alpha):
theta = imu.pitch()
pitch_dot = imu.get_gy()
pitch = alpha*(pitch + pitch_dot*dt) + (1-alpha)*theta
return (pitch, pitch_dot)
'''
Main program loop
from sequence_factory import SequenceFactory
import dma_controller
import time
import config
from pyb import Pin
import pyb
p_SICL = Pin(config.SICL, Pin.OUT_PP)
p_SIBL = Pin(config.SIBL, Pin.OUT_PP)
p_CK = Pin(config.CK, Pin.OUT_PP)
p_LAT = Pin(config.LAT, Pin.OUT_PP)
p_CH = Pin(config.CH, Pin.OUT_PP)
p_NCHG = Pin(config.NCHG, Pin.OUT_PP)
p_LAT.value(0)
p_NCHG.value(0)
dac = pyb.DAC(1)
def latch_data():
p_LAT.value(1)
p_LAT.value(0)
def fire():
p_NCHG.value(1)
output_waveform()
p_NCHG.value(0)
def output_waveform():
dac.write_timed(waveform_buf, freq=4000000, mode=pyb.DAC.CIRCULAR)
import sensor, image, time, math
from pyb import Pin, Timer
tim = Timer(4, freq=1000) # Frequency in Hz
# 生成1kHZ方波，使用TIM4，channels 1 and 2分别是 50% 和 75% 占空比。
ch1 = tim.channel(1, Timer.PWM, pin=Pin("P7"), pulse_width_percent=100)
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE) # grayscale is faster
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time=1000)
clock = time.clock()
grayscale_thres = (100, 255)
thres = (0, 50)
while (True):
clock.tick()
img = sensor.snapshot()
img.binary([grayscale_thres])
blobs = img.find_blobs([thres],
roi=[0, 33, 160, 3],
pixels_threshold=20,
margin=0)
pixels_total = 0
max_pixels = 0
max_index = 0
i = 0
x = 240
if blobs:
for blob in blobs:
yellow_threshold = (0, 72, -10, 1, 11, 42)
#设置绿色的阈值，括号里面的数值分别是L A B 的最大值和最小值（minL, maxL, minA,
# maxA, minB, maxB），LAB的值在图像左侧三个坐标图中选取。如果是灰度图，则只需
#设# 问吴老师 模板是什么？置（min, max）两个数字即可。
sensor.reset() # 初始化摄像头
sensor.set_pixformat(sensor.RGB565) # 格式为 RGB565.
sensor.set_framesize(sensor.QQVGA) # 使用 QQVGA 速度快一些
sensor.skip_frames(10) # 跳过10帧，使新设置生效
sensor.set_auto_whitebal(False)
# 问吴老师 模板是什么？
#关闭白平衡。白平衡是默认开启的，在颜色识别中，一定要关闭白平衡。
clock = time.clock() # 追踪帧率
turn_threshold = 15 # rotate threshold
turn = Pin('P0', Pin.OUT_PP)
turnDone = Pin('P1', Pin.OUT_PP)
red = LED(1)
green = LED(2)
blue = LED(3)
blue.on()
time.sleep(2)
blue.off()
arduino = UART(3, 19200)
while (True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # 从感光芯片获得一张图像
img = img.lens_corr(2.5, 1.0)
from pyb import Pin
#Set pin to alterate function
#a3 = Pin(Pin.board.GPA3, Pin.ALT, alt = Pin.AF_PA3_KPI0_SI0)
#print(a3)
#For GPIO output
#a3 = Pin(Pin.board.GPA3, Pin.OUT)
#print(a3)
#a3.value(1)
count = 0
def pa3_callback(pin):
count = count + 1
#For GPIO input
a3 = Pin(Pin.board.GPA3, Pin.IN)
a3.irq(handler=pa3_callback, trigger=Pin.IRQ_RISING)
while True:
print(count)
pyb.delay(2000)
