def screen_saver():
#local switch
screen_sw = pyb.Switch()
#initiate values
x1 = 0
y1 = 0
x2 = 0
y2 = 0
cycle = 0
while not screen_sw():
if cycle % 50 == 0:
lcd.erase()
#set color random color
fg = lcd.rgb(randint(128, 255), randint(128, 255), randint(128, 255))
bg = lcd.rgb(randint(0, 128), randint(0, 128), randint(0, 128))
lcd.set_pen(fg, bg)
#randomize values
x1 = randint(0, lcd.w)
y1 = randint(0, lcd.h)
x2 = randint(0, lcd.w)
y2 = randint(0, lcd.h)
#draw line (.line if you don't know if inside display, .line_no_clip if certain)
lcd.line_no_clip(x1, y1, x2, y2)
#sleep(1) # pyboard also doesn't recognize input
pyb.delay(1000) #alternative
cycle += 1
def __init__(self):
self.serial_ref = pyb.USB_VCP()
self.buffer = ""
self.paused = True
self.who_i_am = "dummy" # put who_i_am ID here
self.packet_end = "\n"
self.accel = pyb.Accel()
self.switch = pyb.Switch()
self.switch.callback(lambda: self.write_switch())
self.should_write_switch = False
self.leds = [pyb.LED(x + 1) for x in range(4)]
self.led_colors = {'r': 0, 'g': 1, 'y': 2, 'b': 3}
self.leds[0].on()
self.py_version = sys.version
self.upy_version = "%d.%d.%d" % sys.implementation[1]
self.time0 = time.ticks_us()
self.write_time0 = time.ticks_ms()
def DistIRloop(msdelay=20):
red_led = pyb.LED(1)
green_led = pyb.LED(2)
orange_led = pyb.LED(3)
blue_led = pyb.LED(4)
orange_led.on()
userswitch = pyb.Switch()
while not userswitch():
pyb.delay(100)
orange_led.off()
green_led.on()
pyb.delay(1000)
datalogfilename = '/sd/distirlog.csv'
log = open(datalogfilename, 'a')
log.write("t (s), d (cm)\n")
green_led.off()
blue_led.on()
initialtimems = pyb.millis()
while not userswitch():
adcint = pyb.ADC(pyb.Pin('X4')).read()
times = ((pyb.millis()) - initialtimems) / 1000
adcv = (adcint * 3.3 / 4095)
dcm = (9.89703 / (adcv - 0.0189332))**(1 / 0.734319
) # (A/(v-v0))^(1/B)
print("%f s, %f cm" % (times, dcm))
log.write("%f, %f\n" % (times, dcm))
pyb.delay(msdelay)
log.close()
pyb.sync()
blue_led.off()
red_led.on()
def main():
import pyb
serial = pyb.USB_VCP()
midi = MidiOut(serial, channel=1)
switch = pyb.Switch()
if hasattr(pyb, 'Accel'):
accel = pyb.Accel()
SCALE = 1.27
else:
from staccel import STAccel
accel = STAccel()
SCALE = 127
while True:
while not switch():
pyb.delay(10)
note = abs(int(accel.x() * SCALE))
velocity = abs(int(accel.y() * SCALE))
midi.note_on(note, velocity)
while switch():
pyb.delay(50)
midi.note_off(note)
def pass_through(usb, uart, debug=False, enforce_crlf=True): """ Forward any USB char to Serial (vice-versa) """ print( "Activating UART<->USB passthrough..." ) print( " debug = %s" % debug ) print( " enforce_crlf = %s" % enforce_crlf ) # Send CrLf on serial when Cr received on USB print( "press USR button while sending a byte to EXIT") print( "Ready!" ) button = pyb.Switch() usb.setinterrupt(-1) while not button(): select.select([usb, uart], [], []) if usb.any(): data = usb.read(256) if debug: print( 'USB >>> UART: %s' % data ) uart.write( data ) if enforce_crlf and (data[len(data)-1] == CR): data = b'\n' if debug: print( 'USB >>> UART: %s' % data ) uart.write( data ) if uart.any(): data = uart.read(256) if debug: print( 'USB <<< UART: %s' % data ) usb.write( data ) print( 'USR exit!' )
def run(self):
self._display.fill(0)
self.on()
sw = pyb.Switch()
while sw() == False:
self.processmsg(motion.processdelay)
pyb.delay(motion.processdelay)
self.off()
def waitforbuttonorlcd(lcd):
d = False
while not d:
d = pyb.Switch().value()
if (lcd.is_touched()):
d = True
return True
return False
def test_6(self):
sw1 = pyb.Switch(1)
sw1.callback(self.callbackTest)
print("Please Press SW1 for checking callback.")
to=5
while TestSwitches.flagPressed==False and to>0:
pyb.delay(1000)
to-=1
self.assertEqual(True,TestSwitches.flagPressed,"SW callback")
def test_5(self):
flagInvalid=True
try:
sw = pyb.Switch(99)
flagInvalid=False
except:
pass
self.assertEqual(True,flagInvalid,"Invalid SW")
def main():
SystemObjects.getInstance().setHeartbeat(Heartbeat(pyb.LED(1)))
s = pyb.Switch()
s.callback(nextSystemState)
loop = uasyncio.get_event_loop()
loop.create_task(SystemObjects.getInstance().getHeartbeat().run())
loop.run_until_complete(killer(10))
loop.close()
s.callback(None)
def __init__(self):
# Initializing
self.switch = pyb.Switch()
self.start_led = pyb.LED(2)
self.sensor_base = SensorBase.SensorBase()
# Constants
self.sampling_delay = 6 #ms delay
self.standard_delay = 500 #ms
self.test_time = 30000 #ms
# Flicker to indicate start of test
for i in range(3):
self.start_led.on()
pyb.delay(self.standard_delay)
self.start_led.off()
pyb.delay(self.standard_delay)
while not self.switch():
pass
log = open('/sd/06_02_17_raw_walk_random.csv', 'w')
pyb.delay(self.standard_delay)
self.start_time = pyb.millis()
time = 0
self.start_led.on()
while not self.switch() and time < self.test_time:
# TODO Sample and record gravity
ax, ay, az, gx, gy, gz, mx, my, mz, yaw, roll, pitch = self.sensor_base.sample_motion(
)
fsr1, fsr2, fsr3 = self.sensor_base.sample_fsr()
time = pyb.elapsed_millis(self.start_time)
# ax = 0 if (abs(ax) < 1) else ax
# ay = 0 if (abs(ay) < 1) else ay
# az = 0 if (abs(az) < 1) else az
# print("ax: {} \t ay: {} \t , az: {}".format(ax, ay, az))
# print("fsr1: {} \t fsr2: {} \t , fsr3: {}".format(fsr1, fsr2, fsr3))
log.write(
'{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{}\n'.format(
time, ax, ay, az, gx, gy, gz, mx, my, mz, roll, pitch, yaw,
fsr1, fsr2, fsr3))
# log.write('{},{},{}, {}\n'.format(time, ax, ay, az))
pyb.delay(self.sampling_delay)
log.close()
# Flicker to indicate end of test
# self.start_led.on()
# pyb.delay(self.standard_delay)
self.start_led.off()
def run():
loader = Loader()
kabuki.poll_input(loader)
sw = pyb.Switch()
sw.callback(loader.queue_reload)
while True:
try:
kabuki.run()
except Exception as exc:
sys.print_exception(exc)
_install_police_lights(loader)
async def userLoop():
done = False
while not done:
'''
i.e. target=50; cmd = 2000
kp = int(cmd) / 1e6 = 0.002
pid.setProportionalConstants([kp])
output = 0.002*15000 = 30
'''
done = pyb.Switch().value()
await uasyncio.sleep_ms(300)
def __init__(self):
self.switch = pyb.Switch()
self.imu_startup_procedure() #TODO thread
# self.esp_init() #TODO Thread
self.led = pyb.LED(1)
self.start_led = pyb.LED(2)
self.start_led.on()
pyb.delay(500)
self.start_led.off()
self.static_delay = 10 #ms delay
self.zero_count = 0
self.last_moving = False
count = 0
log = open('/sd/13_01_17_accel_drift.csv', 'w')
pyb.delay(1000)
self.last_vel = {'x': 0, 'y': 0, 'z': 0}
self.last_pos = {'x': 0, 'y': 0, 'z': 0}
self.last_accel = {'x': 0, 'y': 0, 'z': 0}
self.vel = {'x': 0, 'y': 0, 'z': 0}
self.pos = {'x': 0, 'y': 0, 'z': 0}
self.accel = {'x': 0, 'y': 0, 'z': 0}
self.start_time = pyb.millis()
# self.esp.udp_connect()
time = 0
while not self.switch() and time < 20000:
self.sample()
time = pyb.elapsed_millis(self.start_time)
# print("The IP address is: {}".format(struct.unpack('i', self.esp.IP)))
# count = count + 1
if self.last_moving is True:
self.led.on()
else:
self.led.off()
log.write('{},{},{},{}\n'.format(time, self.last_accel['x'],
self.last_accel['y'],
self.last_accel['z']))
# self.esp.udp_send("t")
pyb.delay(self.static_delay)
# self.esp.udp_close()
log.close()
self.led.off()
self.start_led.on()
pyb.delay(1000)
self.start_led.off()
def Light_Script_Ready():
flag = True
while True:
if flag:
toggle_light(2, 6)
flag = False
sw = pyb.Switch()
if sw.value():
toggle_light_stop(2)
Light_Feedback_Button()
pyb.delay(200)
break
def run(self):
self._display.fill(0)
sw = pyb.Switch()
lasttime = pyb.millis()
while sw() == False:
pyb.delay(DISPLAY_DELAY)
distance = self._getdistance()
thistime = pyb.millis()
t = thistime - lasttime
self.printdistance(distance)
self._rangepoint.update(self._display, distance, t / 1000.0)
lasttime = thistime
def main():
sw_state = False
led = pyb.LED(1)
switch = pyb.Switch()
switch.callback(set_sw_state)
accel = STAccel()
hid = pyb.USB_HID()
while True:
if sw_state:
x, y, z = accel.xyz()
hid.send((0, int(x * MAG), int(-y * MAG), 0))
pyb.delay(int(1000 / FREQ))
def main():
print('rover main')
for i in range(3):
for led in leds:
led.toggle()
pyb.delay(50)
led.toggle()
for led in reversed(leds):
led.toggle()
pyb.delay(50)
led.toggle()
all_leds_off()
usr_switch = pyb.Switch()
usr_switch.callback(demo_motor)
demo_motor()
def print_kirby():
#local switch
kirby_sw = pyb.Switch()
#set writing position continousely
c_x = 0
c_y = 0
lcd.set_pos(c_x, c_y)
while not kirby_sw():
lcd.set_pos(c_x, c_y)
lcd.write('<(^^)>')
c_y += 10
#sleep(1) # pyboard also doesn't recognize input
pyb.delay(1000) #alternative
def touch_pos():
#local switch
screen_sw = pyb.Switch()
#initiate values
#lcd.set_text_color(lcd.rgb(255, 0, 0), lcd.rgb(0, 0, 0))
#
lcd.erase()
#t,x,y = lcd.get_touch()
#draw squares
fg = lcd.rgb(255, 128, 128)
bg = lcd.rgb(0, 0, 0)
lcd.set_pen(fg, bg)
#rect(x,y,w,h)
lcd.rect(2, 2, 50, 80)
#lcd.set_pos(3,2)
#lcd.write('S 1')
pyb.delay(1000)
lcd.set_pen(fg, lcd.rgb(128, 128, 128))
lcd.rect(2, 82, 50, 78)
#lcd.
pyb.delay(1000)
lcd.set_pen(fg, lcd.rgb(96, 96, 96))
lcd.rect(53, 2, 50, 80)
pyb.delay(1000)
lcd.set_pen(fg, lcd.rgb(64, 64, 64))
lcd.rect(53, 82, 50, 78)
pyb.delay(5000)
while not screen_sw():
#lcd.erase()
t, x, y = lcd.get_touch()
lcd.set_pos(15, 150)
lcd.write(str(t))
lcd.set_pos(45, 150)
lcd.write(' ')
lcd.set_pos(45, 150)
lcd.write(str(x))
lcd.set_pos(75, 150)
lcd.write(' ')
lcd.set_pos(75, 150)
lcd.write(str(y))
#sleep(1) # pyboard also doesn't recognize input
pyb.delay(1000) #alternative
pyb.delay(3000)
def osc(n, d):
for i in range(n):
hid.send((0, int(20 * math.sin(i / 10)), 0, 0))
pyb.delay(d)
osc(100, 50)
# Connect to accel - NOTE you will need to use safe mode to stop - see webapge
import pyb
switch = pyb.Switch()
accel = pyb.Accel()
hid = pyb.USB_HID()
while not switch():
hid.send((0, accel.x(), accel.y(), 0))
pyb.delay(20)
def button_control(press_delay):
# commonly, the delay is in millisecond
ms_time_before = 0
ms_time_after = 0
sw_button = pyb.Switch()
if sw_button.value():
ms_time_before = utime.ticks_ms()
while True:
if (utime.ticks_ms() - ms_time_before) > press_delay:
lighting.turnon_light(2)
if sw_button.value() is False:
ms_time_after = utime.ticks_ms()
break
if (ms_time_after - ms_time_before) > press_delay:
lighting.Light_Feedback_Button_Long()
return "L"
else:
lighting.Light_Feedback_Button_Short()
return "S"
def up_check():
return True
global button
MAX_TIME = const(10000) # 10 seconds
DELAY_TIME = const(10) # 10 ms
WINK_FREQ = 10 # Hz
sw = pyb.Switch()
sw.callback(cb_switch)
counter = 0
while button is False and counter < MAX_TIME:
if ((counter * WINK_FREQ) // 2000) % 2 == 0:
pyb.LED(1).on()
else:
pyb.LED(1).off()
pyb.delay(DELAY_TIME)
counter += DELAY_TIME
sw.callback(None)
return button
def screen_saver_touch():
#local switch
screen_sw = pyb.Switch()
lcd.write('TEST')
#initiate values
#lcd.set_text_color(lcd.rgb(255, 0, 0), lcd.rgb(0, 0, 0))
#
x1 = 0
y1 = 0
x2 = 0
y2 = 0
cycle = 0
#touch = 0
fg = lcd.rgb(255, 255, 255)
bg = lcd.rgb(0, 0, 0)
while not screen_sw():
if cycle % 50 == 0:
lcd.erase()
if not lcd.is_touched():
#set lines to green
fg = lcd.rgb(255, 0, 0)
#background black
bg = lcd.rgb(0, 0, 0)
if lcd.is_touched():
#set lines to something else
fg = lcd.rgb(0, 255, 0)
#background white
bg = lcd.rgb(128, 128, 128)
lcd.set_pen(fg, bg)
x1 = randint(0, lcd.w)
y1 = randint(0, lcd.h)
x2 = randint(0, lcd.w)
y2 = randint(0, lcd.h)
#draw line (.line if you don't know if inside display, .line_no_clip if certain)
lcd.line_no_clip(x1, y1, x2, y2)
#sleep(1) # pyboard also doesn't recognize input
pyb.delay(100) #alternative
cycle += 1
def DistIRloop(msdelay=20):
red_led = pyb.LED(1)
green_led = pyb.LED(2)
orange_led = pyb.LED(3)
blue_led = pyb.LED(4)
orange_led.on()
fbuf.fill(0)
fbuf.text('Tecle USR', 25, 20, lcd.rgb(255, 255, 0))
lcd.show_framebuf(fbuf)
userswitch = pyb.Switch()
while not userswitch():
pyb.delay(100)
orange_led.off()
green_led.on()
fbuf.text('Preparando...', 10, 50, lcd.rgb(0, 255, 0))
lcd.show_framebuf(fbuf)
pyb.delay(1000)
datalogfilename = '/sd/distirlog.csv'
log = open(datalogfilename, 'a')
log.write("t (s), d (cm)\n")
green_led.off()
blue_led.on()
fbuf.text('Medindo...', 15, 80, lcd.rgb(0, 255, 255))
lcd.show_framebuf(fbuf)
# pyb.delay(3000)
gc.collect()
initialtimems = pyb.millis()
while not userswitch():
adcint = pyb.ADC(pyb.Pin('X4')).read()
times = ((pyb.millis()) - initialtimems) / 1000
adcv = (adcint * 3.3 / 4095)
dcm = (9.89703 / (adcv - 0.0189332))**(1 / 0.734319
) # (A/(v-v0))^(1/B)
#print("%f s, %f cm" % (times, dcm))
log.write("%f, %f\n" % (times, dcm))
pyb.delay(msdelay)
log.close()
pyb.sync()
blue_led.off()
red_led.on()
fbuf.text('Fim !', 35, 110, lcd.rgb(255, 0, 0))
lcd.show_framebuf(fbuf)
def init_buttons(q):
sw = pyb.Switch()
sw.callback(q.on_press)
# sw.callback(lambda:print('press!'))
pins = ['A' + str(i) for i in range(1, 8, 2)]
# pins = ['D' + str(i) for i in range(0, 7, 2)]
# pins = ['A7']
print('Initializing buttons:', pins)
q.on_btn_press = {}
q.btns = []
bs = []
mapper = range(len(pins))
# bs.append(lambda x: print(mapper[0], ': line', x))
# bs.append(lambda x: print(mapper[1], ': line', x))
# bs.append(lambda x: print(mapper[2], ': line', x))
# bs.append(lambda x: print(mapper[3], ': line', x))
def on_arrow_button(mapped, line):
shared_globals.move_arrow_pressed = mapped
# print('on_arrow_button=', mapped)
# print('mapped var', mapped, ': line', line)
bs.append(lambda x: on_arrow_button(mapper[0], x))
bs.append(lambda x: on_arrow_button(mapper[1], x))
bs.append(lambda x: on_arrow_button(mapper[2], x))
bs.append(lambda x: on_arrow_button(mapper[3], x))
for i, pin_id in enumerate(pins):
new_callback = bs[i]
new_btn = pyb.ExtInt(pin_id, pyb.ExtInt.IRQ_FALLING,
pyb.Pin.PULL_UP, new_callback)
q.btns.append(new_btn)
def userinput(prompt, lcd, letters="default", auto=None):
clear(lcd)
do = True
sel = 0
text = []
if (letters == "default"):
letters = listfromletters("abcdefghijklmnopqrstuvwxyz ")
letters.append("GO")
letters.append("<<")
while do:
printlcd(lcd, 0, "Press USR to switch letters", True)
printlcd(lcd, 0, "Touch Screen to type letter")
printlcd(lcd, 0, "letter:'" + letters[sel] + "'")
printlcd(lcd, 0, prompt + listtotext(text))
waitforlcdorbuttonnowait(lcd)
if (lcd.is_touched()):
if (letters[sel] == "<<" or letters[sel] == "GO"):
if (letters[sel] == "<<"):
if (not len(text) == 0):
text.pop(len(text) - 1)
else:
do = False
else:
text.append(letters[sel])
d = True
while d:
d = lcd.is_touched()
else:
try:
tmp = letters[sel + 1]
del tmp
sel += 1
except:
sel = 0
d = True
while d:
d = pyb.Switch().value()
return listtotext(text)
def main():
a = pyb.Accel()
pitches = [a.x, a.y]
servos = [pyb.Servo(sn) for sn in servoNums]
curangles = [-100, -100]
# mn, mx, _, a, s = s1.calibration()
# s1.calibration(mn, mx, servoCenter, a, s)
# s1.speed(0)
l = pyb.LED(ledNum)
sw = pyb.Switch()
while (1):
if sw():
break
for i in range(len(pitches)):
p = pitches[i]()
if curangles[i] != p:
curangles[i] = p
setservo(servos[i], p)
pyb.delay(20)
def run_light_sword_test(spi_bus=1, led_count=30, wait_ms=50):
global PATTERN_SWITCH
sw = pyb.Switch()
led_strip_count = 1
led_strips = tuple(WS2813(1, 64) for _ in range(led_strip_count))
pattern_funcs = (
pattern_rainbow_flow,
pattern_rainbow_glow,
)
pattern_idx = -1
pattern_func_cnt = len(pattern_funcs)
data = [(
0,
0,
0,
)] * led_count
sw.callback(shift_pattern_func)
try:
while True:
PATTERN_SWITCH = False
pattern_idx += 1
pattern_func = pattern_funcs[pattern_idx % pattern_func_cnt]
try:
pattern_func(led_strips, data, wait_ms)
except StopIteration:
pass
gc.collect()
except KeyboardInterrupt:
print('Disabling switch callback')
sw.callback(None)
def toggle_breathing(freq):
"""breath forever if don't push the button"""
presis = 1000 # toggle one time in one second
freq = freq / 2 # freq for function 'sin()', because of 'fabs()'
t0 = 1 / freq # period of the 'sin()', the whole time of the 'sin()'
t00 = t0 / presis # division of the period, more detailed t00 = 0.002
i = 0
led4 = pyb.LED(4)
while True:
index = math.floor((255 * math.sin(i / presis * 2 * math.pi)))
if index <= 0:
index = 0
led4.intensity(index)
pyb.delay(math.floor(
t00 * 1000)) # delay of each cycle for t00 milliseconds\
i += 1
sw = pyb.Switch()
if sw.value():
toggle_light(3, 4)
pyb.delay(1500)
toggle_light_stop(3)
break
