print("--- RAM free ---> " + str(mem_free()))
pinout = set_pinout()
built_in_led = Led(pinout.BUILT_IN_LED)
num_neo = 16 # 30 # number of Leds
np = Rgb(pinout.WS_LED_PIN, num_neo)
ws_r = 0
ws_g = 0
ws_b = 0
boot_pin = Pin(0, Pin.IN)
boot_button = Button(boot_pin, release_value=1)
servo = Servo(pinout.PWM1_PIN)
d7 = disp7_init()
def parse_rgba_msg(msg):
"""
parse rgba message to dict from following formats:
#ff00C3
#ff00C3FF
RGBA(255,0,200,255) or rgba(255,0,200,255)
RGB(255,0,200,255) or rgb(255,0,200)
[255,0,200,255]
[255,0,200]
"""
ret = {'RED': 0, 'GREEN': 0, 'BLUE': 0, 'ALPHA': 0}
# servo laser pointer - example
from time import sleep_ms
from utils.transform import *
from components.servo import Servo
# todo: PWM double setup error
s1 = Servo(17)
s2 = Servo(16)
dist = 100 # distance and size of board
delay = 5
def move_servo2(p1, p2, delay = delay):
steps = move_2d_line(p1, p2)
for step in steps:
alfa = cosangle(step[0], dist, dist)[0]
beta = cosangle(step[1], dist, dist)[0]
print(step, alfa, beta)
s1.set_degree(alfa)
s2.set_degree(beta)
sleep_ms(delay)
def run_test():
p1 = 0, 0 # strart point
p2 = 50, 50 # stop point
move_servo2(p1, p2)
def servo_init(pin = PIN_SER):
servo = Servo(PIN_SER)
return servo
# octopusLAB - BLE and BlueFruit mobile app.
## uPyShell:~/$ run examples/ble/ble_servo.py
# 13.6.2020
print("---> BLE and BlueFruit mobile app. - pwm")
print("This is simple Micropython example | ESP32 & octopusLAB")
from utils.octopus_lib import getUid
uID5 = getUid(short=5)
from time import sleep
from utils.pinout import set_pinout
from components.servo import Servo
pinout = set_pinout()
s1 = Servo(pinout.PWM1_PIN)
# s2 = Servo(pinout.PWM2_PIN)
# s3 = Servo(pinout.PWM3_PIN)
import blesync_server
import blesync_uart.server
import utils.ble.bluefruit as bf
angle = 45
s1.set_degree(angle)
angle_min = 10
angle_max = 150
@blesync_uart.server.UARTService.on_message
def on_message(service, conn_handle, message):
# servo test - example
from time import sleep
from utils.pinout import set_pinout
from components.servo import Servo
# todo: PWM double setup error
pinout = set_pinout()
# s1 = Servo(pinout.PWM1_PIN)
# s2 = Servo(pinout.PWM2_PIN)
s3 = Servo(pinout.PWM3_PIN)
angles = [0, 20, 50, 70, 90]
while True:
for a in angles:
# s1.set_degree(a)
# s2.set_degree(a)
s3.set_degree(a)
sleep(1)
class SensorBlock:
def __init__(self, servo, ultrasonic):
self.servo = servo
self.ultrasonic = ultrasonic
pass
def __del__(self, ):
pass
def move(self, theta):
self.servo.move_to(theta)
def tilt_down(self):
self.servo.inc_angle()
def tilt_up(self):
self.servo.dec_angle()
if __name__ == "__main__":
servo11 = Servo(11, min_pulse=950, max_pulse=1600, initial_angle=180)
depth_sensor = DepthSensor(11, 8)
sensor_block = SensorBlock(servo11, depth_sensor)
while (True):
key = input()
if (key == 'w'):
sensor_block.tilt_up()
else:
sensor_block.tilt_down()
ENABLE_COMPENSATION = True
LR_COMPENSATION = +10 # %, -10 slows L motor comared to R
ULTRASONIC_SAMPLING = 60 # ms, how often detect obstacle
moto_L1 = Pin(pinout.MOTOR_1A, Pin.OUT)
moto_L2 = Pin(pinout.MOTOR_2A, Pin.OUT)
moto_L = PWM(Pin(pinout.MOTOR_12EN, Pin.OUT), freq=500, duty = 0)
moto_R3 = Pin(pinout.MOTOR_3A, Pin.OUT)
moto_R4 = Pin(pinout.MOTOR_4A, Pin.OUT)
moto_R = PWM(Pin(pinout.MOTOR_34EN, Pin.OUT), freq=500, duty = 0)
echo = HCSR04(trigger_pin=pinout.PWM2_PIN, echo_pin=pinout.PWM1_PIN)
servo = Servo(pinout.PWM3_PIN)
servo.set_degree(50)
def read_distance(echo):
d = echo.distance_cm()
if d < 0:
sleep_ms(50)
d = echo.distance_cm()
print('distance', d)
return d
def compensate_speed_left(speed):
return speed + int(speed/100 * LR_COMPENSATION/2) * ENABLE_COMPENSATION
def compensate_speed_right(speed):
return speed - int(speed/100 * LR_COMPENSATION/2) * ENABLE_COMPENSATION
# octopusLAB - BLE and BlueFruit mobile app.
## uPyShell:~/$ run examples/ble/ble_servo.py
# 13.6.2020
print("---> BLE and BlueFruit mobile app. - pwm")
print("This is simple Micropython example | ESP32 & octopusLAB")
from utils.octopus_lib import getUid
uID5 = getUid(short=5)
from time import sleep
from utils.pinout import set_pinout
from components.servo import Servo
pinout = set_pinout()
s1 = Servo(pinout.PWM1_PIN)
s2 = Servo(pinout.PWM2_PIN)
# s3 = Servo(pinout.PWM3_PIN)
import blesync_server
import blesync_uart.server
import utils.ble.bluefruit as bf
angle1 = 45
angle2 = 45
s1.set_degree(angle1)
s2.set_degree(angle2)
angle_min = 10
angle_max = 150
# octopusLAB simple example
from time import sleep
from components.analog import Analog
# from utils.octopus_lib import map
from components.servo import Servo
an2 = Analog(35)
s1 = Servo(16)
s1.set_degree(0)
# 0-150
amin = 0
amax = 150
while True:
data = an2.get_adc_aver(2)
sleep(0.05)
angle = map(data, 0, 4000, amin, amax)
print(data,angle)
s1.set_degree(angle)
import urequests
from utils.octopus import disp7_init
from time import time, sleep
from utils.octopus import w
from components.servo import Servo
s1 = Servo(17)
from components.rgb import Rgb
from utils.pinout import set_pinout
pinout = set_pinout()
from utils.io_config import get_from_file
io_conf = get_from_file()
ws = Rgb(pinout.WS_LED_PIN,io_conf.get('ws'))
w()
# You can change it to what you want
# This server have /set.php?name=[name]&data=[data] wich will set data for the given name
# And get.php?name=[name] wich will give back the data
# At the root there is a simple form to put data
SERVER_URL = "http://ark.smee.ovh:8088/get.php?name=bryan"
d7 = disp7_init()
global cursor
cursor = 0
global total_text
total_text = "Octopus"
last_time = -10000
def set_text(text):
global cursor
global total_text
cursor = 0
total_text = text
print("servos init")
from config import Config
setup = Config("draw2servos")
setup.print_all()
try:
L1 = int(setup.get("L1"))
L2 = int(setup.get("L2"))
except:
print("config.Err")
print("L1, L2: " + str(L1) + ", " + str(L2))
print("servos init")
from components.servo import Servo
s1 = Servo(17)
s2 = Servo(16)
s1.set_degree(90)
s2.set_degree(0)
def move_servo2(p1, p2, delay=5):
steps = move_2d_line(p1, p2)
for step in steps:
alfa, beta = invkin2(step, L1, L2)
print(step, alfa, beta)
s1.set_degree(alfa)
s2.set_degree(beta)
