# check IDE mode
ide_mode_conf = "/flash/ide_mode.conf"
ide = True
try:
f = open(ide_mode_conf)
f.close()
del f
except Exception:
ide = False
if ide:
os.remove(ide_mode_conf)
from machine import UART
import lcd
lcd.init(color=lcd.PINK)
repl = UART.repl_uart()
repl.init(1500000, 8, None, 1, read_buf_len=2048, ide=True, from_ide=False)
sys.exit()
del ide, ide_mode_conf
# detect boot.py
main_py = '''
try:
import gc, lcd, image, sys, os
from Maix import GPIO
from fpioa_manager import fm
test_pin=16
fm.fpioa.set_function(test_pin,fm.fpioa.GPIO7)
test_gpio=GPIO(GPIO.GPIO7,GPIO.IN,GPIO.PULL_UP)
lcd.init()
lcd.clear(color=(255,0,0))
pitch = Servo(pitch_pwm, dir=init_pitch)
roll = Servo(roll_pwm, dir=init_roll)
pid_pitch = PID(p=pitch_pid[0],
i=pitch_pid[1],
d=pitch_pid[2],
imax=pitch_pid[3])
pid_roll = PID(p=roll_pid[0],
i=roll_pid[1],
d=roll_pid[2],
imax=roll_pid[3])
gimbal = Gimbal(pitch, pid_pitch, roll, pid_roll)
target_pitch = init_pitch
target_roll = init_roll
t = time.ticks_ms()
_dir = 0
t0 = time.ticks_ms()
stdin = UART.repl_uart()
while 1:
# get target error
err_pitch, err_roll = target.get_target_err()
# interval limit to > 10ms
if time.ticks_ms() - t0 < 10:
continue
t0 = time.ticks_ms()
# run
gimbal.run(err_pitch,
err_roll,
pitch_reverse=pitch_reverse,
roll_reverse=roll_reverse)
