def __init__(self, port):
self.i2c = i2c_bus.get(i2c_bus.M_BUS)
self._available()
self._available()
self.port = port
self._position = 0
self.updateTime = 0
def __init__(self, i2c=None):
if i2c is None:
self.i2c = i2c_bus.get(i2c_bus.M_BUS)
else:
self.i2c = i2c
self.imu = MPU6050(self.i2c)
if self.i2c.is_ready(M5GO_WHEEL_ADDR) or self.i2c.is_ready(
M5GO_WHEEL_ADDR):
pass
else:
raise ImportError("Bala Motor not connect")
self.id = self.imu.whoami
# self.set_motor(0, 0)
self.imu.setGyroOffsets(-2.71, -0.01, -0.04)
self.loop_interval = time.ticks_us()
self.dt = time.ticks_us()
self.angleX = 0
self.angleX_offset = 0
self.last_angle = 0.0
self.last_wheel = 0.0
self.in_speed0 = 0
self.in_speed1 = 0
self.left = 0
self.right = 0
self.K1 = 40
self.K2 = 40
self.K3 = 6.5
self.K4 = 5.5
self.K5 = 0
self.enc_filter = 0.90
def __init__(self, addr=0x08):
self.i2c = i2c_bus.get(i2c_bus.M_BUS)
self.addr = addr
self._available()
self.press_status = 0x00
self.release_status = 0x00
self._timer = timEx.addTimer(100, timEx.PERIODIC, self._monitor)
self.status_hold = 0xff
def __init__(self, addr = 0x5e):
self._addr = addr
self.i2c = i2c_bus.get(i2c_bus.M_BUS)
self._available()
self.encode_value = 0
self.press = 0
self.time = 0
self.dir = 0
def __init__(self, i2c=None, i2cAddress=_I2C_ADDRESS_MAG3110):
if i2c:
self.i2c = i2c
else:
i2c = i2c_bus.get(i2c_bus.M_BUS)
self.i2cAddress = i2cAddress
self.__initialSetup()
def __init__(self, port):
from dht12 import DHT12
from bmp280 import BMP280
self.i2c = i2c_bus.get(port)
self._available()
self.dht12 = DHT12(self.i2c)
self.bmp280 = BMP280(self.i2c)
self.time = 0
self.data = None
def __init__(self, addr=0x70, i2c=None):
if i2c == None:
self.i2c = i2c_bus.get(i2c_bus.PORTA)
else:
self.i2c = i2c
self.addr = addr
self._available()
self.mode = 'absolute' # absolute
self.last_speed = 300
def __init__(self, port, address=0x29):
self.i2c = i2c_bus.get(port)
self.addr = address
self._active = False
self.integration_time = 0
self.time = 0
self._raw = (0, 0, 0, 0)
self._available()
self.setIntegrationTime(_INT_154MS)
self.setGains(0x02)
self.enable()
def __init__(self, port=PORTA):
global class_map
from dht12 import DHT12
from bmp280 import BMP280
self.i2c = i2c_bus.get(i2c_bus.M_BUS)
if class_map['dht12'] == None:
class_map['dht12'] = DHT12(self.i2c)
if class_map['bmp280'] == None:
class_map['bmp280'] = BMP280(self.i2c)
self.dht12 = class_map['dht12']
self.bmp280 = class_map['bmp280']
self.time = 0
self.data = None
def __init__(self, port):
self.i2c = i2c_bus.get(port)
self._available()
self.offset = 0.25
self.mode = MODE_CONTIN
self.rate = RATE_15
self.gain = GAIN_ONE
self.mini_code = {RATE_15: 16, RATE_30: 15, RATE_60: 14, RATE_240: 12}
self.gain_code = {
GAIN_ONE: 1,
GAIN_TWO: 2,
GAIN_FOUR: 4,
GAIN_EIGHT: 8
}
def __init__(self,
i2c=None,
address=0x68,
accel_fs=ACCEL_FS_SEL_2G,
gyro_fs=GYRO_FS_SEL_500DPS,
accel_sf=SF_G,
gyro_sf=SF_DEG_S):
if i2c:
self.i2c = i2c
else:
import i2c_bus
self.i2c = i2c_bus.get(i2c_bus.M_BUS)
# from machine import I2C
# self.i2c = I2C(sda=21, scl=22, speed=400000)
self.address = address
# if 0x71 != self.whoami:
# raise RuntimeError("MPU6500 not found in I2C bus.")
# Init
self._register_char(_SMPLRT_DIV, 0x00)
self._register_char(_CONFIG, 0x00)
self._accel_so = self._accel_fs(accel_fs)
self._gyro_so = self._gyro_fs(gyro_fs)
self._accel_sf = accel_sf
self._gyro_sf = gyro_sf
self._register_char(_PWR_MGMT_1, 0x01)
# Enable I2C bypass to access for MPU9250 magnetometer access.
# char = self._register_char(_INT_PIN_CFG)
# char &= ~_I2C_BYPASS_MASK # clear I2C bits
# char |= _I2C_BYPASS_EN
# self._register_char(_INT_PIN_CFG, char)
self.preInterval = time.ticks_us()
self.accCoef = 0.02
self.gyroCoef = 0.98
self.angleGyroX = 0
self.angleGyroY = 0
self.angleGyroZ = 0
self.angleX = 0
self.angleZ = 0
self.angleY = 0
self.gyroXoffset = 0
self.gyroYoffset = 0
self.gyroZoffset = 0
def __init__(
self, i2c=None, address=0x68,
accel_fs=ACCEL_FS_SEL_2G, gyro_fs=GYRO_FS_SEL_500DPS,
accel_sf=SF_G, gyro_sf=SF_DEG_S
):
if i2c:
self.i2c = i2c
else:
import i2c_bus
self.i2c = i2c_bus.get(i2c_bus.M_BUS)
self.address = address
if self.i2c.is_ready(address) or self.i2c.is_ready(address):
pass
else:
raise RuntimeError("imu not found")
# Init
self._register_char(_SMPLRT_DIV, 0x00)
self._register_char(_CONFIG, 0x00)
self._accel_so = self._accel_fs(accel_fs)
self._gyro_so = self._gyro_fs(gyro_fs)
self._accel_sf = accel_sf
self._gyro_sf = gyro_sf
self._register_char(_PWR_MGMT_1, 0x01)
# Enable I2C bypass to access for MPU9250 magnetometer access.
# char = self._register_char(_INT_PIN_CFG)
# char &= ~_I2C_BYPASS_MASK # clear I2C bits
# char |= _I2C_BYPASS_EN
# self._register_char(_INT_PIN_CFG, char)
self.preInterval = time.ticks_us()
self.accCoef = 0.02
self.gyroCoef = 0.98
self.angleGyroX = 0
self.angleGyroY = 0
self.angleGyroZ = 0
self.angleX = 0
self.angleZ = 0
self.angleY = 0
self.gyroXoffset = 0
self.gyroYoffset = 0
self.gyroZoffset = 0
def __init__(self, port):
self.i2c = i2c_bus.get(i2c_bus.M_BUS)
self._available()
self.port = port - 1
self.prev_enc_val = 0
self.interval = 0
self.sample_interval = 10
self.enc_zero = 0
self.input_value = 0
self.speed_pid = PID(p=50, i=0, d=60)
self.speed_point = None
self.angle_pid = PID(p=8, i=0, d=30)
self.angle_point = None
self.angle_max_pwm = 255
self.encode_zero = 0
self.encode_clear()
def __init__(self, port=i2c_bus.PORTA):
self._addr = 0x5a
self._i2c = i2c_bus.get(port)
def __init__(self, addr=0x28):
self.addr = addr
self.i2c = i2c_bus.get(i2c_bus.M_BUS)
self._available()
self.init()
def __init__(self, port):
self.i2c = i2c_bus.get(port)
self._available()
self.config = Ext_io.ALL_INPUT
self.setPortMode(self.config)
def __init__(self, addr=0x70):
# self.i2c =
# self.i2c = I2C(id=0, sda=a[0], scl=a[1])
self.i2c = i2c_bus.get(i2c_bus.M_BUS)
self.addr = addr
self.speed = 500
def __init__(self, port, addr=0x60):
self.i2c = i2c_bus.get(port)
self.addr = addr
self._available()
def __init__(self, min_us=500, max_us=2500):
self.i2c = i2c_bus.get(i2c_bus.PORTA)
self._available()
self.min_us = min_us
self.max_us = max_us
label1.setText('Hi, SmartDevice MQTT start')
lcd.font(lcd.FONT_Comic)
m5mqtt.publish(str('test_ESP32_smartdevice'),
str('smart device is now online'))
#----------get time
#rtc = machine.RTC()
#rtc.ntp_sync(server="1.europe.pool.ntp.org", tz="CET-1CEST")
#rtc.ntp_sync(server="hr.pool.ntp.org", tz="CET-1CEST")
#rtc.synced()
#env0 = unit.get(unit.ENV, unit.PORTA)
try:
env0 = unit.get(unit.ENV, unit.PORTA)
label3.setText("Sensor: OK")
except:
i2c = i2c_bus.get(i2c_bus.M_BUS)
label3.setText("Sensor: N.A.")
ENV_insert = 1
while ENV_insert:
if i2c.is_ready(IIC_Address_ENV):
ENV_insert = 0
env0 = unit.get(unit.ENV, unit.PORTA)
label3.setText("Sensor: OK!")
wait_ms(200)
pass
# mpu9250
imu0 = imu.IMU()
if get_bmm150_status():
wait_ms(200)
def __init__(self, port):
self.i2c = i2c_bus.get(port)
self._available()
def __init__(self):
self.addr = 0x34
self.i2c = i2c_bus.get(i2c_bus.M_BUS)
from lib import mpu6050
import i2c_bus
SH200Q_ADDR = 0x6c
MPU6050_ADDR = 0x68
imu_i2c = i2c_bus.get(i2c_bus.M_BUS)
IMU = mpu6050.MPU6050
if imu_i2c.is_ready(MPU6050_ADDR) or imu_i2c.is_ready(MPU6050_ADDR):
IMU = mpu6050.MPU6050
from m5stack import * from m5ui import * from mpu6050 import MPU6050 from mag3110 import MAG3110 import i2c_bus clear_bg(0x111111) itwoc = i2c_bus.get(i2c_bus.M_BUS) mag = MAG3110(itwoc) imu = MPU6050(itwoc) btnA = M5Button(name='ButtonA', text='ButtonA', visibility=False) btnB = M5Button(name='ButtonB', text='ButtonB', visibility=False) btnC = M5Button(name='ButtonC', text='ButtonC', visibility=False) labelx = M5TextBox(40, 30, "Text", lcd.FONT_Default, 0xFFFFFF) labely = M5TextBox(40, 50, "Text", lcd.FONT_Default, 0xFFFFFF) labelz = M5TextBox(40, 70, "Text", lcd.FONT_Default, 0xFFFFFF) labelax = M5TextBox(40, 90, "Text", lcd.FONT_Default, 0xFFFFFF) labelay = M5TextBox(40, 110, "Text", lcd.FONT_Default, 0xFFFFFF) labelaz = M5TextBox(40, 130, "Text", lcd.FONT_Default, 0xFFFFFF) labelgx = M5TextBox(40, 150, "Text", lcd.FONT_Default, 0xFFFFFF) labelgy = M5TextBox(40, 170, "Text", lcd.FONT_Default, 0xFFFFFF) labelgz = M5TextBox(40, 190, "Text", lcd.FONT_Default, 0xFFFFFF) labelmg = M5TextBox(40, 210, "Text", lcd.FONT_Default, 0xFFFFFF) lpitch = M5TextBox(5, 30, "pitch", lcd.FONT_Default, 0xFFFFFF) lroll = M5TextBox(5, 50, "roll", lcd.FONT_Default, 0xFFFFFF) lyaw = M5TextBox(5, 70, "yaw", lcd.FONT_Default, 0xFFFFFF) lax = M5TextBox(5, 90, "ax", lcd.FONT_Default, 0xFFFFFF) lay = M5TextBox(5, 110, "ay", lcd.FONT_Default, 0xFFFFFF)
import math
import machine
import neopixel
import urequests
import _thread
import ntptime
import time
import wifiCfg
# 変数の定義
Library_ServoDefaultValue = [1000, 630, 300, 600, 240, 600, 1000, 720]
Library_MotionNumberCache = []
Library_TransitionTimeArrayCache = []
Library_SearvoArrayCache = []
Library_ServoBeforeValue = [0] * 8
Library_i2c = i2c_bus.get(i2c_bus.M_BUS)
Library_np = neopixel.NeoPixel(machine.Pin(26), 2)
# グローバル変数の定義
Library_ServoCurrentValue = [0] * 8
Library_CurrentLEDValue = [(0, 0, 0), (0, 0, 0)]
Library_MotionNumberBefore = -1
Library_MotionNumberFlag = -1
Library_ThreadFlag = False
Library_ThreadPlayFlag = False
Library_PlayFlag = False
Library_ServoErrorFlag = False
Library_MotionSpeed = 100
for i in range(8):
Library_ServoCurrentValue[i] = Library_ServoDefaultValue[i]
def __init__(self, port=PORTA):
from dht12 import DHT12
from bmp280 import BMP280
self.i2c = i2c_bus.get(i2c_bus.M_BUS)
self.dht12 = DHT12(self.i2c)
self.bmp280 = BMP280(self.i2c)
def __init__(self, addr=0x5e):
self.i2c = i2c_bus.get(i2c_bus.M_BUS)
self._addr = addr
self._available()
self.time = 0
self.value = None
def __init__(self, port):
self.i2c = i2c_bus.get(i2c_bus.M_BUS)
self.port = port
self._position = 0
lcd.setBrightness(25)
Sleep_EN = 0
Lum_value_tmp = 0
Lum_value_max = 0
Lum_value_min = 0
LCD_EN = 10
setScreenColor(0x111111)
lcd.image(lcd.CENTER, lcd.CENTER, 'res/ghost_in_the_shell.jpg')
time.sleep(0.6)
setScreenColor(0x111111)
title = M5Title(title=" ESP32 IIC debug, BH1750 Lux",
x=3,
fgcolor=0xEFEFDF,
bgcolor=0x1F1F1F)
#IIC init
a = i2c_bus.get(i2c_bus.PORTA)
label1 = M5TextBox(10, 40, "Text", lcd.FONT_DejaVu24, 0xFFFFAA, rotate=0)
label_iic = M5TextBox(10, 140, "Lum:", lcd.FONT_Comic, 0xEFEFDF, rotate=0)
lcd.image(lcd.CENTER + 60, lcd.CENTER + 40, 'res/light.jpg')
label_max = M5TextBox(190,
140,
"Lum.Max:",
lcd.FONT_Default,
0xFFCF1F,
rotate=0)
label_min = M5TextBox(190,
160,
"Lum.Min:",
lcd.FONT_Default,
0xAFEFDF,
rotate=0)
def __init__(self, addr=0x08):
self.i2c = i2c_bus.get(i2c_bus.M_BUS)
self.addr = addr
self._available()
self._str = ''
self.key = b''
