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()
async def main():
if ESP32: # Pins for IR LED gate
pin = (Pin(23, Pin.OUT, value=0), Pin(21, Pin.OUT, value=0))
else:
pin = Pin('X1')
irb = MCE(pin) # verbose=True)
# Uncomment the following to print transmit timing
# irb.timeit = True
b = [] # Rbutton instances
px3 = Pin(18, Pin.IN, Pin.PULL_UP) if ESP32 else Pin(
'X3', Pin.IN, Pin.PULL_UP)
px4 = Pin(19, Pin.IN, Pin.PULL_UP) if ESP32 else Pin(
'X4', Pin.IN, Pin.PULL_UP)
b.append(Rbutton(irb, px3, 0x1, 0x7))
b.append(Rbutton(irb, px4, 0xe, 0xb))
if ESP32:
while True:
print('Running')
await asyncio.sleep(5)
else:
led = LED(1)
while True:
await asyncio.sleep_ms(500) # Obligatory flashing LED.
led.toggle()
async def main(proto):
# Test uses a 38KHz carrier.
if ESP32: # Pins for IR LED gate
pin = (Pin(23, Pin.OUT, value=0), Pin(21, Pin.OUT, value=0))
else:
pin = Pin('X1')
classes = (NEC, SONY_12, SONY_15, SONY_20, RC5, RC6_M0)
irb = classes[proto](pin, 38000) # My decoder chip is 38KHz
# Uncomment the following to print transmit timing
# irb.timeit = True
b = [] # Rbutton instances
px3 = Pin(18, Pin.IN, Pin.PULL_UP) if ESP32 else Pin(
'X3', Pin.IN, Pin.PULL_UP)
px4 = Pin(19, Pin.IN, Pin.PULL_UP) if ESP32 else Pin(
'X4', Pin.IN, Pin.PULL_UP)
b.append(Rbutton(irb, px3, 0x1, 0x7, proto))
b.append(Rbutton(irb, px4, 0x10, 0xb, proto))
if ESP32:
while True:
print('Running')
await asyncio.sleep(5)
else:
led = LED(1)
while True:
await asyncio.sleep_ms(500) # Obligatory flashing LED.
led.toggle()
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 initalize_robot():
oled = init_oled()
A1, A2, B1, B2, motorA, motorB = init_motors()
# Define LEDs
b_LED = LED(4)
b_LED.toggle()
# IMU connected to X9 and X10
imu = MPU6050(1, False) # Use I2C port 1 on Pyboard
return imu, oled, A1, A2, B1, B2, motorA, motorB
async def heartbeat(tms):
if platform == 'pyboard': # V1.x or D series
from pyb import LED
led = LED(1)
elif platform == 'esp8266':
from machine import Pin
led = Pin(2, Pin.OUT, value=1)
elif platform == 'linux':
return # No LED
else:
raise OSError('Unsupported platform.')
while True:
if platform == 'pyboard':
led.toggle()
elif platform == 'esp8266':
led(not led())
await asyncio.sleep_ms(tms)
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()
def test_led():
led = LED(1) # 红色led
led1 = LED(2) # 红色led
led2 = LED(3) # 红色led
count = 0
while True:
led.toggle()
led1.toggle()
led2.toggle()
count += 1
print(count)
if count > 10:
break
pyb.delay(1000)
#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 alt = bmp180.altitude #if there is gps data to be read while uart.any():
Name: Lab 4 Exercise 4
-----------------------------------------------------------
Learning to use rhe OLED deisplay driver
-----------------------------------------------------------
'''
import pyb
from pyb import LED, ADC, Pin # Pyboard basic library
from oled_938 import OLED_938 # Use various class libraries in pyb
# Create peripheral objects
b_LED = LED(4)
pot = ADC(Pin('X11'))
# 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()
# Simple Hello world message
oled.draw_text(0, 0, 'Hello, world!') # each character is 6x8 pixels
tic = pyb.millis() # store starting time
while True:
b_LED.toggle()
toc = pyb.millis() # read elapsed time
oled.draw_text(0, 20, 'Delayed time:{:6.3f}sec'.format((toc-tic)*0.001))
oled.draw_text(0, 40, 'POT5K reading:{:5d}'.format(pot.read()))
tic = pyb.millis() # start time
oled.display()
delay = pyb.rng()%1000 # Generate a random number btw 0 and 999
pyb.delay(delay) # Delay in milliseconds
shut_down()
# Core code that routes activities
if machine.reset_cause() == machine.DEEPSLEEP_RESET:
# This should be the primary function called when logging - keep at top of if statements
# Alarm trigger - Log and go back to sleep
write_line('DEEPSLEEP')
run()
elif machine.reset_cause() == machine.PWRON_RESET:
# Power turned on (battery plugged it) - start cycling
write_line('PWRON')
for x in range(0, 5):
led_G.toggle()
sleep(.5)
led_G.off()
led_B.on()
sleep(1)
shut_down()
elif machine.reset_cause() == machine.HARD_RESET:
# Button pressed - start wifi so can get into pyboard
write_line('HARD')
import Wifi
Wifi.connect()
elif machine.reset_cause() == machine.SOFT_RESET:
# CTL-D entered from the prompt - used for clearing memory while testing code
write_line('SOFT')
#select the cut flag
uartClass = 3
green_led.on()
else:
# lost the frame: extend the area, and backward
appleRoi = []
#if appleRoi:
#appleRoi = extendRoi(appleRoi)
#img.draw_rectangle(appleRoi, color = (0, 0, 255))
# select the backwards flag
uartClass = 2
print("obj not found!")
blue_led.toggle()
#continue
#print('\n')
# get the info of density and ratio of target
#density = objBlob.density()
#ratio = objBlob.w() / objBlob.h()
#pixelCnt = objBlob.pixels()
#area = objBlob.area()
#img.draw_string(appleRoi[0], appleRoi[1], str(density), color = (255, 255, 0))
#print("pix: %d, area: %d, width: %d, height: %d"%(pixelCnt, area, objBlob.w(), objBlob.h()))
# send the flag
#uartFlag:
def car_control(ret):
if ret == 'w':
car.Right_move(1)
car.Left_move(1)
elif ret == 's':
car.Right_move(2)
car.Left_move(2)
elif ret == 'a':
car.Right_move(1)
car.Left_move(2)
elif ret == 'd':
car.Right_move(2)
car.Left_move(1)
elif ret == 'x':
car.Right_move(3)
car.Left_move(3)
while True:
led1.toggle()
getter.add_string(wifi.receive_char())
getter.add_string(usb_uart.readline())
ret = getter.get_char()
if ret is not None:
print(ret)
car_control(ret)
pyb.delay(100)
#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
alt = bmp180.altitude
#if there is gps data to be read
while uart.any():
import time
from pyb import LED
l = LED("left:amber")
print(l.get())
while 1:
# l.on()
l.toggle()
print(l.get())
time.sleep(1)
# l.off()
# print(l.get())
# time.sleep(1)
from Display import Display
sensor = Sensor(4, 9600)
display = Display(6, 9600)
dht11 = Dht11('X7')
l1 = LED(1)
l2 = LED(2)
l3 = LED(3)
l4 = LED(4)
cnt = 10
n4 = 0
n5 = 0
while True:
a = display.read_disp()
l1.toggle()
if a != 0:
sensor.state = a
n0, n1, n2, n3 = sensor.read_s()
l2.toggle()
cnt = cnt - 1
if cnt == 0:
n4, n5 = dht11.read_temps()
cnt = 10
# n4,n5=25,50
l3.toggle()
display.write_d(n0, n1, n2, n3, n4, n5)
l4.toggle()
clock = time.clock()
led2 = LED(2)#green,get x,y dispaly
led3 = LED(3)#run display
# 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.
while(True):
clock.tick()
img = sensor.snapshot()
threshold_index = 3 #chose color
for blob in img.find_blobs([thresholds[threshold_index]], pixels_threshold=200, area_threshold=200, merge=True):
led2.toggle()
img.draw_rectangle(blob.rect())
img.draw_cross(blob.cx(), blob.cy())
if threshold_index == 0:
color_bar=(255,0,0) #red
color_text="red"
elif threshold_index == 1:
color_bar=(0,255,0) #green
color_text="green"
elif threshold_index == 2:
color_bar=(0,255,0) #blue
color_text="blue"
elif threshold_index == 3:
color_bar=(0,0,0) #black
color_text="black"
img.draw_string(blob.x() - 2, blob.y() - 8, color_text,color=color_bar)
INIT_ARM_SPEED = 15000 # default 15000
TRACKING_ARM_SPEED = 1000 # default 1000
# higher value -> larger arm movement in every step. 10 is default. (this affects target distance, not speed)
STEP_SIZE = 10
# ms to wait after init before recording the tracked item reference. Good to give the arm time to move to position.
INIT_WAIT = 5000
# -------------------------------------------------- INIT
#initial the uarm
led_err = LED(1) #red
led_ok = LED(2) # green
led_start = LED(3) # Blue led
led_start.toggle()
if MODE == "arm":
#initial the uart
uart = UART(3, 115200)
#test if the connection is active by a status query
uart.write("P2500\r\n")
utime.sleep_ms(100)
response = uart.readline()
if response != b'ok\n':
# wait for the arm to get ready (probably needs to switch active uart, send "M2500" command to it from outside)
while(response != b'ok\n'):
print(response)
response = uart.readline()
utime.sleep_ms(100)
#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()
async def heartbeat():
led = LED(2) # Green
while True:
await asyncio.sleep_ms(500)
led.toggle()
async def red_handler(evt_rx):
led = LED(1)
for x in range(20):
await evt_rx.wait()
print(x)
led.toggle()
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
# Object tracking with keypoints example.
# Show the camera an object and then run the script. A set of keypoints will be extracted
# once and then tracked in the following frames. If you want a new set of keypoints re-run
# the script. NOTE: see the docs for arguments to tune find_keypoints and match_keypoints.
import sensor, time, image, utime
from pyb import UART
from pyb import LED
#initial the uarm
led = LED(3) # Blue led
led.toggle()
#initial the uart
uart = UART(3, 115200)
#get the command first, since the arm should change the communication port from main uart to second port
flag = uart.readline()
while (flag != b'ok\n'):
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
Red = LED(1)
Blue = LED(3)
Green = LED(2)
s = pyb.Servo(2)
INB = pyb.Pin("P3",pyb.Pin.OUT_PP)
INA = pyb.Pin("P4",pyb.Pin.OUT_PP)
INA.low()
INB.high()
p = Pin('P5')
Motor_Timer = Timer(2,freq=1000)
ch = Motor_Timer.channel(4,Timer.PWM, pin=p)
ch.pulse_width_percent(0)
for x in range(50):
Red.toggle()
pyb.delay(50)
# Tracks a black line. Use [(128, 255)] for a tracking a white line.
GRAYSCALE_THRESHOLD = [(0, 60)]
# Each roi is (x, y, w, h). The line detection algorithm will try to find the
# centroid of the largest blob in each roi. The x position of the centroids
# will then be averaged with different weights where the most weight is assigned
# to the roi near the bottom of the image and less to the next roi and so on.
ROIS = [ # [ROI, weight]
(0, 100, 160, 10, 0.1), # You'll need to tweak the weights for your app
(0, 50, 160, 10, 0.7), # depending on how your robot is setup.
(0, 20, 160, 20, 0.2)
]
DISP.write('{:3.1f}°C'.format(highLowValues[i][1]))
elif i == 1:
DISP.set_pos(64, 88 + i * 16)
DISP.write('{:3.1f}hPa'.format(highLowValues[i][0]))
DISP.set_pos(8, 88 + i * 16)
DISP.write('{:3.1f}hPa'.format(highLowValues[i][1]))
elif i == 2:
DISP.set_pos(64, 88 + i * 16)
DISP.write('{:3.1f}%'.format(highLowValues[i][0]))
DISP.set_pos(8, 88 + i * 16)
DISP.write('{:3.1f}%'.format(highLowValues[i][1]))
DISP.set_brightness(31)
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")
import time
from pyb import LED
l = LED("left:amber")
print(l.get())
while 1:
# l.on()
l.toggle()
print(l.get())
time.sleep(1)
# l.off()
# print(l.get())
# time.sleep(1)
