#import qwiic module import qwiic #capture a list of all supported qwiic boards on the i2c bus results = qwiic.list_devices() #print the listed results of the supported qwiic boards on the i2c bus print(results) # Select a device from the list and creat an instance of it mydevice = qwiic.create_device(results[0][0]) #print out the specific device print(mydevice)
import qwiic
import qwiic_joystick
import time
import sys
import subprocess as sp
print()
print()
print("----------")
print("Qwiic I2C Python Demo with Binho Multi-Protocol USB Host Adapter from Win/Mac/Ubuntu")
print("----------")
print()
print("Scanning for Qwiic Devices...")
print()
devices = qwiic.list_devices()
if len(devices) == 0:
print("No Devices Found!")
exit(1)
print("Found the following device(s):")
for device in devices:
print(device[1])
myJoystick = qwiic_joystick.QwiicJoystick()
if myJoystick.connected == True:
useJoystick = True
myJoystick.begin()
async def main():
"""
Runs the main control loop for this demo. Uses the KeyboardHelper class to read a keypress from the terminal.
W - Go forward. Press multiple times to increase speed.
A - Decrease heading by -10 degrees with each key press.
S - Go reverse. Press multiple times to increase speed.
D - Increase heading by +10 degrees with each key press.
Spacebar - Reset speed and flags to 0. RVR will coast to a stop
"""
global current_key_code
global speed
global heading
global flags
await rvr.wake()
await rvr.reset_yaw()
mux = qwiic.QwiicTCA9548A()
mux.disable_all()
mux.enable_channels([3, 4])
results = qwiic.list_devices()
avail_addresses = qwiic.scan()
print(avail_addresses)
for r in results:
print(r)
frontSensor = qwiic.QwiicVL53L1X(address=95)
rearSensor = qwiic.QwiicVL53L1X(address=64)
while True:
rearSensor.StartRanging()
frontSensor.StartRanging()
time.sleep(.005)
distance = frontSensor.GetDistance()
time.sleep(.005)
rDistance = rearSensor.GetDistance()
time.sleep(.005)
frontSensor.StopRanging()
rearSensor.StopRanging()
print("Front Distance: %s Rear Distance: %s" % (distance, rDistance))
if current_key_code == 119: # W
# if previously going reverse, reset speed back to 64
if flags == 1:
speed = 64
else:
# else increase speed
speed += 64
# go forward
flags = 0
elif current_key_code == 97: # A
heading -= 10
elif current_key_code == 115: # S
# if previously going forward, reset speed back to 64
if flags == 0:
speed = 64
else:
# else increase speed
speed += 64
# go reverse
flags = 1
elif current_key_code == 100: # D
heading += 10
elif current_key_code == 32: # SPACE
# reset speed and flags, but don't modify heading.
speed = 0
flags = 0
if distance < 50:
speed = 0
flags = 0
# check the speed value, and wrap as necessary.
if speed > 255:
speed = 255
elif speed < -255:
speed = -255
# check the heading value, and wrap as necessary.
if heading > 359:
heading = heading - 359
elif heading < 0:
heading = 359 + heading
# reset the key code every loop
current_key_code = -1
# issue the driving command
await rvr.drive_with_heading(speed, heading, flags)
# sleep the infinite loop for a 10th of a second to avoid flooding the serial port.
await asyncio.sleep(0.1)