def __init__(self, lidar, lights, servo, i2c, min_speed=20, max_speed=50):
self.m0 = d1motor.Motor(0, i2c)
self.m1 = d1motor.Motor(1, i2c)
self.m0.frequency(10000) # 10khz -> quiet
self.m1.frequency(10000) # 10khz -> quiet
self.lidar = lidar
self.lights = lights
self.servo = servo
self.current_speed = 0
self.actual_speed = 0
self.min_speed = min_speed
self.max_speed = max_speed
asyncio.get_event_loop().create_task(self.drive_autonomous())
def __init__(self, i2c, servo_pin, min_speed=100, max_speed=500):
self.m0 = d1motor.Motor(0, i2c)
self.m0.frequency(1000) # 10khz -> quiet
self.dist_sensor = VL53L0X(i2c)
self.dist_sensor.start()
self.dist = self.dist_sensor.read()
#self.pause_pin=Pin(pause_pin, machine.Pin.IN, machine.Pin.PULL_UP) #its pulled low by a cable in operating mode
#esp32.wake_on_ext0(pin = self.pause_pin, level = esp32.WAKEUP_ALL_LOW)
#does not work because of exposed pins
self.servo = PWM(Pin(servo_pin), freq=50)
# duty for servo is between 26 - 122 (~180 degrees)
self.servo.duty(79) # about center
self.direction = 0
self.current_speed = 0
self.actual_speed = 0
self.steer()
self.min_speed = min_speed
self.max_speed = max_speed
def __init__(self):
self.settings = Settings().load()
self.i2c = I2C(scl=Pin(Gpio.I2C_SCL), sda=Pin(Gpio.I2C_SDA))
self.motor_state = MotorState.STOPPED
self.shade_state = ShadeState.UNKNOWN
self.ir_sensor = ADC(Gpio.IR_SENSOR)
self.ir_power = Pin(Gpio.IR_POWER, Pin.OUT)
self.motor = d1motor.Motor(0, self.i2c)
self.ir_check_timer = Timer(-1)
self.motor_check_timer = Timer(-1)
self.force_moving = 0
self.stopped_by_ir_sensor = False
self.speed = 10000
self.ir_sensor_read = 0
if self.settings.motor_reversed == b"1":
self.speed = -10000
self.motor.brake()
self.ir_power.off()
def __init__(self):
self.i2c = I2C(scl=Pin(5), sda=Pin(4))
self.m1 = d1motor.Motor(0, self.i2c)
self.m2 = d1motor.Motor(1, self.i2c)
import d1motor from machine import I2C, Pin i2c = I2C(Pin(5), Pin(4), freq=10000) m0 = d1motor.Motor(0, i2c) m1 = d1motor.Motor(1, i2c) m0.speed(5000)