コード例 #1
0
ファイル: helloWorld.py プロジェクト: d1runberg/picar
#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)
コード例 #2
0
ファイル: joystickWindows.py プロジェクト: binhollc/Qwiic_Py
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()
コード例 #3
0
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)