def __init__(self,
server_ip,
acllimitval,
shakeslimitcount,
color,
port=2260):
self.acl = None
while 1:
try:
self.acl = mpu6050.accel()
print("accel init")
break
except:
print("accelinit iicerror")
self.np = neopixel.NeoPixel(machine.Pin(14), 1)
self.np[0] = (10, 0, 0)
self.np.write()
self.ip = server_ip
self.port = port
self.acllimitval = acllimitval
self.shakeslimitcount = shakeslimitcount
self.shakescount = 0
self.val = None
self.color = color
self.gravity = 16900
self.last_magnitude = 0
self.vibrator = machine.Pin(12, machine.Pin.OUT)
self.vibrator.value(0)
self.np[0] = (0, 0, 255)
self.np.write()
time.sleep(0.5)
self.server_socket = socket.socket()
starttime = time.time()
self.started = 99999999
while 1:
self.np.write()
try:
self.server_socket.connect((self.ip, self.port))
self.np[0] = (0, 255, 0)
print("connected")
self.np.write()
self.server_socket.setblocking(0)
break
except:
self.np[0] = (255, 0, 0)
time.sleep(2)
if starttime + 5 < time.time():
self.started = time.time()
break
self.np.write()
def __init__(self, scl_pin, sda_pin, samples=10):
"""
Initialise the MPU6050 sensor to read accelerometer and gyroscope data.
:param scl_pin: A Pin object connected to SCL on the sensor.
:param sda_pin: A Pin object connected to SDA on the sensor.
:param samples: An integer representing number of readings to take the average of.
"""
i2c = I2C(scl=scl_pin, sda=sda_pin)
self.accelerometer = accel(i2c)
self.calibrated_values = []
self.samples = samples
def __init__(self, i2c, wheels=None):
self.accel = mpu6050.accel(i2c)
if wheels: self.wheels = wheels
self.reader = {
# 'x':self.accel.gyro_x,
# 'y':self.accel.gyro_y,
# 'z':self.accel.gyro_z,
'x': self.accel.accel_x,
'y': self.accel.accel_y,
'z': self.accel.accel_z,
}
self.init_calib()
def __init__(self, sclPin, sdaPin, accadd, oledadd):
self.sclPin = sclPin
self.sdaPin = sdaPin
self.oledadd = oledadd
self.accadd = accadd
#print('{}-{}-{}-{}' .format(self.sclPin, self.sdaPin, self.oledadd, self.accadd))
self.i2c = I2C(scl=Pin(self.sclPin), sda=Pin(self.sdaPin))
self.oled = ssd1306.SSD1306_I2C(128, 64, self.i2c, self.oledadd)
self.accelerometer = mpu6050.accel(self.i2c, self.accadd)
self.accelerometer.set_frs_ac(3)
self.scale = self.accelerometer.read_scale(0x1C)
print(self.scale)
def __init__(self, acllimitval, shakeslimitcount, color):
self.acl = None
while 1:
try:
self.acl = mpu6050.accel()
print("accel init")
break
except:
print("accelinit iicerror")
self.np = neopixel.NeoPixel(machine.Pin(14), 1)
self.np[0] = (10, 0, 0)
self.np.write()
self.acllimitval = acllimitval
self.shakeslimitcount = shakeslimitcount
self.shakescount = 0
self.val = None
self.color = color
self.vibrator = machine.Pin(12, machine.Pin.OUT)
self.vibrator.value(0)
def midisend():
wlan = network.WLAN(network.STA_IF)
sleep(0.5)
wlan.active(True)
while not wlan.isconnected():
print("not connected yet")
# set up socket
udpip = "192.168.0.106"
port = 5045
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
i2c = I2C(scl=Pin(5), sda=Pin(4))
mpu = mpu6050.accel(i2c)
# infinite loop of sending data
while True:
sleep(0.05)
dat = mpu.get_values()
barr = bytes(str(dat), 'utf-8')
sock.sendto(barr, (udpip, port))
# 在这里写上你的代码 :-)
from machine import I2C, Pin
import mpu6050, time
i2c = I2C(scl=Pin(17), sda=Pin(16))
accelerometer = mpu6050.accel(i2c)
while True:
print(accelerometer.get_values())
time.sleep_ms(300)
from machine import I2C
import q4
import time, math
import mpu
import mpu6050
i2c = I2C(I2C.I2C0, freq=100000, scl=30, sda=31)
acc = mpu6050.accel(i2c)
acc.error_gy()
#ay=acc.get_values()
#mpu.one_filter(ay["AcX"],ay["AcY"],ay["AcZ"],ay["GyX"],ay["GyY"],ay["GyZ"])
i = 0
gyx = 0
gyy = 0
r = []
q = []
while 1:
ay = acc.get_values()
i = i + 1
if i == 256:
#print(r)
print(q)
#print (q[0],q[1],q[2])
i = 0
#print(ay["AcX"],ay["AcY"],ay["AcZ"],ay["GyX"],ay["GyY"],ay["GyZ"])
#r=mpu.one_filter(ay["AcX"],ay["AcY"],ay["AcZ"],ay["GyX"],ay["GyY"],ay["GyZ"])
q = q4.IMUupdate(ay["GyX"] / 65.5 * 0.0174533,
ay["GyY"] / 65.5 * 0.0174533,
ay["GyZ"] / 65.5 * 0.0174533, ay["AcX"] / 8192,
ay["AcY"] / 8192, ay["AcZ"] / 8192)
time.sleep(0.0035)
def value():
i2c = I2C(scl=Pin(22), sda=Pin(21))
acc = mpu6050.accel(i2c)
return acc.get_values()
# Scan I2C Register from an MPU6050
from machine import I2C, Pin
from time import sleep_ms
import mpu6050
i2c = I2C(scl=Pin(4), sda=Pin(5))
accelerometer = mpu6050.accel(i2c, 0x68)
count = 13
while (count <= 117):
scale = accelerometer.read_scale(count)
print('{}-{}'.format(hex(count), scale))
count += 1
sleep_ms(500)
oled = SSD1306_I2C(128, 64, i2c1,
addr=0x3c) #OLED显示屏初始化：128*64分辨率,OLED的I2C地址是0x3c
oled.text("OLED OK", 0, 0) #写入第1行内容
oled.show() #OLED执行显示
#电机控制模块初始化I2C，pca9685芯片
i2c2 = I2C(sda=Pin(16, Pin.OUT, Pin.PULL_UP),
scl=Pin(17, Pin.OUT, Pin.PULL_UP),
freq=40000)
pca = PCA9685(i2c2) #初始化PCA对象
pca.reset() #复位pca
pca.freq(freq=1000) # set freq = 1000Hz
oled.text("PWM OK", 0, 20) #写入第2行内容
oled.show() #OLED执行显示
#陀螺仪初始化
i2c3 = I2C(scl=Pin(15), sda=Pin(27)) #陀螺仪 scl->21 sda->33
accelerometer = mpu6050.accel(i2c3) #初始化陀螺仪对象
#电子罗盘初始化
qmc = QMC5883L() #初始化电子罗盘对象
##############################################
# 服务函数
##############################################
def key(KEY):
global key_node
time.sleep_ms(10) #消除抖动
if KEY.value() == 0: #确认按键被按下
key_node = 1
fre = round(((2093 - 262) * p / 100) + 262)
elif t == 3:
fre = round(((247 - 65) * p / 100) + 65)
elif t == 4:
fre = round(((2093 - 65) * p / 100) + 65)
return (fre)
neo_pixel = NeoPixel(Pin(12, Pin.OUT), 24)
musica_1 = PWM(Pin(25))
Naranja1 = TouchPad(Pin(4))
Naranja2 = TouchPad(Pin(2))
Naranja1.config(1000)
Naranja2.config(1000)
i2c = I2C(scl=Pin(22), sda=Pin(21))
MPU = mpu6050.accel(i2c)
U_Sonico = HCSR04(trigger_pin=32, echo_pin=35)
while True:
if 300 > (Naranja1.read()):
for i in range(3):
neo_pixel[i - 1] = hex_to_rgb('#ff0000')
neo_pixel.write()
musica_1.freq(784)
musica_1.duty(512)
time.sleep_us(1968750)
musica_1.freq(0)
time.sleep_us(31250)
if 300 > (Naranja2.read()):
for i in range(3, 6):
neo_pixel[i - 1] = hex_to_rgb('#ff9900')
neo_pixel.write()
import machine
from machine import Pin, PWM, I2C, TouchPad
import mpu6050
en = Pin(32, Pin.OUT)
pm = Pin(33, Pin.OUT)
touch1 = TouchPad(Pin(12))
touch2 = TouchPad(Pin(13))
i2c = I2C(scl=Pin(22), sda=Pin(21))
accel = mpu6050.accel(i2c, 104)
print("WHILE")
while 1:
t1 = touch1.read() < 300
t2 = touch2.read() < 300
if t1 == t2:
en.off()
else:
en.on()
if t1:
pm.on()
else:
pm.off()
while 0:
a = accel.get_values()
if a['GyZ'] > 1000:
en.on()
import timestart
SERVER = '192.168.1.103' # MQTT Server Address (Change to the IP address of your Pi)
PORT = 1883
CLIENT_ID = 'MPU'
TOPIC = b'test'
USER = '******'
PASSWORD = '******'
client = MQTTClient(CLIENT_ID, SERVER, user=USER, password=PASSWORD)
client.connect() # Connect to MQTT broker
i2c = I2C(scl=Pin(22), sda=Pin(21))
acc = mpu6050.accel(i2c, "5432")
rtc = RTC()
def send(tim):
while True:
try:
# Confirm sensor results are numeric
vals = acc.get_values()
print(vals)
# vals["sensor_id"] = 5432
# vals["timestamp"] = str(rtc.datetime())
# msg = bytearray(str(vals),"utf8")
# msg = ujson.loads(vals)
import mpu6050, machine, neopixel, time
while 1:
try:
acl = mpu6050.accel()
print("accel init")
break
except:
print("accelinit iicerror")
np = neopixel.NeoPixel(machine.Pin(14), 1)
np[0] = (0, 255, 0)
np.write()
max_val = 30000
val = None
while 1:
try:
val = acl.get_values()
break
except:
print("getval0 iicerror")
while 1:
try:
val = acl.get_values()
except:
print("getval1 iicerror")
if abs(val["GyX"]) > max_val or abs(val["GyY"]) > max_val or abs(
val["GyZ"]) > max_val:
print("1:" + str(val["GyX"]) + " " + str(val["GyY"]) + " " +
str(val["GyZ"]))
