def motor_control():
# define various I/O pins for ADC
adc_1 = ADC(Pin('X19'))
adc_2 = ADC(Pin('X20'))
# set up motor with PWM and timer control
A1 = Pin('Y9',Pin.OUT_PP)
A2 = Pin('Y10',Pin.OUT_PP)
pwm_out = Pin('X1')
tim = Timer(2, freq = 1000)
motor = tim.channel(1, Timer.PWM, pin = pwm_out)
A1.high() # motor in brake position
A2.high()
# Calibrate the neutral position for joysticks
MID = adc_1.read() # read the ADC 1 value now to calibrate
DEADZONE = 10 # middle position when not moving
# Use joystick to control forward/backward and speed
while True: # loop forever until CTRL-C
speed = int(100*(adc_1.read()-MID)/MID)
if (speed >= DEADZONE): # forward
A1.high()
A2.low()
motor.pulse_width_percent(speed)
elif (speed <= -DEADZONE):
A1.low() # backward
A2.high()
motor.pulse_width_percent(-speed)
else:
A1.low() # stop
A2.low()
def tempe():
adc=ADC(Pin('X1'))
level=float(adc.read())
volt=(level/4095)*3.3
resitor=(1500*volt)/(3.3-volt)
tem=(0.0587*resitor-99.1176)
print(tem)
def __init__(self, rtc):
self.rtc = rtc
# Try to access the SD card and make the new path
try:
self.sensor_file = "/sd/{0}".format(filename)
f = open(self.sensor_file, 'r')
f.close()
print("INFO: Using SD card for data.")
except:
print("ERROR: cannot mount SD card, reverting to flash!")
self.sensor_file = SENSOR_DATA
print("Data filename = {0}".format(self.sensor_file))
# Setup the dictionary for each soil moisture sensor
soil_moisture1 = {
'sensor': ADC(Pin('X19')),
'power': Pin('X20', Pin.OUT_PP),
'location': 'Green ceramic pot on top shelf',
'num': 1,
}
soil_moisture2 = {
'sensor': ADC(Pin('X20')),
'power': Pin('X21', Pin.OUT_PP),
'location': 'Fern on bottom shelf',
'num': 2,
}
# Setup a list for each sensor dictionary
self.sensors = [soil_moisture1, soil_moisture2]
# Setup the alarm to read the sensors
self.alarm = pyb.millis()
print("Plant Monitor class is ready...")
def __init__(self):
#Defines the pins which the infrared sensors are connected to
self.IR1 = Pin('X9', Pin.IN)
self.IR2 = Pin('X10', Pin.IN)
#sets up the timer
self.tim = Timer(2, freq = 1000)
#Defines the pins that motor A is connected to
self.A1 = 'Y9'
self.A2 = 'Y10'
self.PWMA = 'X1'
self.chanA = 1
self.motorA = Motor(self.A1, self.A2, self.PWMA, self.chanA, self.tim)
#Defines the pins which motor B is connected to
self.B1 = 'Y11'
self.B2 = 'Y12'
self.PWMB = 'X2'
self.chanB = 2
self.motorB = Motor(self.B1, self.B2, self.PWMB, self.chanB, self.tim)
#Initial speed of the robot
self.speed = 50
#Initial state of the path
self.pathBlocked = False
#Defines the speed at which the robot rotate
self.ROTATION_SPEED = 50
#The pin which is connected to the potentiometer
self.pot = ADC(Pin('X8'))
def print_resistance():
adc = ADC(Pin('A2')) # Identify the pin to measure V2
V1 = 3.3 # Set V1 to 3.3 Volts since we're using the '3.3V' pin to power the circuit
V2 = adc.read() / 1024.0 # Set V2 to the voltage measured by the A2 pin
R1 = 220000 # Set R1 as the 220 KOhm resistor at the beginning of our circuit
R2 = (V2 / (V1 - V2)
) * R1 # solve for the resistance of R2 (thermistor) using Ohm's Law
print(V2, ' Volts, ', R2, ' Ohms')
class JoyStick:
# expo formula
# ouput =((EXPO*POW(input,3))+((1-EXPO)*input))*RATE
# where input & output are on [-1,1]
def __init__(self,xp,yp, pbp, pbFunc): # last arg is a pointer to the interrupt handler
self.XPin = ADC(Pin(xp))
self.YPin = ADC(Pin(yp))
self.PBPin = Pin(pbp, Pin.IN, Pin.PULL_UP)
self.maxAnalog = 4095
self.minAnalog = 0
self.maxOutput = 100
self.minOutput = -100
self.pinExpo = 25
self.onPB = pbFunc
self.changeDelta = 400 # ms
self.lastChangeTime = 0 # ms
self._calibrateXY()
def _calibrateXY(self):
xSum = 0
ySum = 0
for i in range(100):
xSum += self.XPin.read()
ySum += self.YPin.read()
self.X0 = round(xSum/100.0)
self.Y0 = round(ySum/100.0)
def checkPB(self):
now = time.ticks_ms()
if now-self.lastChangeTime > self.changeDelta:
if not self.PBPin.value():
self.onPB()
self.lastChangeTime = now
def _read(self, x):
pin = self.XPin
V0 = self.X0
if not x:
pin = self.YPin
V0 = self.Y0
val = pin.read()
if abs(val - V0) < self.pinExpo:
return(0)
return arduino_map(val,V0,self.maxAnalog,0,self.maxOutput) \
if val > self.X0 else \
arduino_map(val,self.minAnalog,V0,self.minOutput,0)
def readX(self):
return self._read(True)
def readY(self):
return self._read(False)
def check_joystick():
adc_1 = ADC(Pin('X19'))
adc_2 = ADC(Pin('X20'))
J_sw = Pin('Y11', Pin.IN)
while True:
print('Vertical: ',adc_1.read(), 'Horizontal: ', adc_2.read(), 'Switch: ',J_sw.value())
pyb.delay(2000)
def find_initpoint():
adc = ADC("P6") # Must always be "P6". 获取灰度传感器的ADC引脚
location = (adc.read()) #获取灰度传感器传来的模拟量 OPENMV的模拟量最大值为4095
while location > 800:
p_out_0.low() #低电平逆时针旋转
location = (adc.read())
print("location=%f" % location)
p_out_0.high() #步进电机停止旋转
def __init__(self, pin):
"""pin may be name or pin object. It must be able to handle ADC input."""
if type(pin) == str:
p = Pin(pin)
elif type(pin) == Pin:
p = pin
else:
raise Exception(
"pin must be pin name or pyb.Pin able to support ADC")
self._adc = ADC(p)
def main():
print("Started ..")
slider = ADC(Pin('Y4')) # setup slider
lcd = LCD() # setup LCD
logo = Logo() # init Logo
pos = slider.read() # get slider position
lcd.clear() # Draw on LCD
lcd.blit(logo.buf, logo.x, logo.y)
lcd.text(pos, 0, 0)
lcd.draw()
print(pos) # write slider position
class Adc():
def __init__(self):
self.adv = ADC(Pin('X11'))
self.adc = ADC(Pin('X12'))
self.adt = pyb.ADCAll(12)
def read_ad(self):
v = self.adv.read()
c = self.adc.read()
t = self.adt.read_core_temp()
v = 100/4096*v
c = 600/4096*c
return ('%.2f' % v, '%.2f' % c, '%.2f' % t)
def start_continuous_measurement(measure_time=0,
measure_interval=500,
pin='X1',
file_name=''):
'''
start_continuous_measurement(measure_time = 0, measure_interval = 500, pin = 'X1', file_name = '')
Start a continuous measurement of the connected peripheral, and saves the result as to a CSV file on the PyBoards drive, under the 'Results' folder. Press Ctrl+C to stop the measuring at any time.
Parameters
----------
measure_time : int
Upper limit for measurement's length, in miliseconds. Defaults to 0, which means an infinite measurement.
measure_interval : int
Time interval between two consecutive measurements, miliseconds. Defaults to 500.
pin : str
Name of the pin connected to your connected peripheral. Defaults to X1.
file_name : str
Name for the saved file. Will be concatenated to the current CPU clock as file name to avoid possible duplicates and data loss.
Returns
-------
None
'''
link = open(
'./Results/' + pin + file_name + '_' + str(time.ticks_ms()) + '.csv',
'w')
adc = ADC(Pin(pin))
if measure_time == 0:
while True:
try:
cur = adc.read()
link.write(str(measure_time) + ',' + str(cur) + '\n')
cls()
print(cur)
delay(measure_interval)
measure_time += measure_interval
except KeyboardInterrupt:
print('Measurment stopped')
link.close()
break
else:
for i in range(0, measure_time, measure_interval):
cur = adc.read()
link.write(str(i) + ',' + str(cur) + '\n')
cls()
print(cur)
delay(measure_interval)
link.close()
print('Measurment finished')
def Init():
# Power
Power.bat24v = Pin('Y11', Pin.OUT)
Power.dc24_bat24 = Pin('Y12', Pin.OUT)
Power.dc_v = ADC('X3')
Power.battery_v = ADC('X4')
Power.dc_c = ADC('X5')
Power.main_pump_c = ADC('X7')
Power.skim_pump_c = ADC('X6')
# ADC all object
Power.adc = ADCAll(12, 0x70000)
Power.check_ticks_ms = 0
class SlopeLeader(object):
def __init__(self):
self.adc = ADC(Pin('rINC'))
self._timer = Timer(7, freq=100)
self._buffer = bytearray(10)
def read(self):
self.adc.read_timed(self._buffer, self._timer) # resolution 256
value = sum(self._buffer) // len(self._buffer)
slope = value / 256 # ratio to cover
return slope
def off(self):
#value = self.read()
#print('slope=', value)
return True if self.read() <= 0.1 else False
class EC(object):
def __init__(self, temperature=25, logger=None):
# SET UP adc and set temp compensation
self._adc = ADC(Pin.board.X5)
self._temp = temperature
self._tempCoeff = self.tempCoeff()
def get(self):
volts = ((self._adc.read() / adc_range) * in_voltage)
coef_volt = volts / self._tempCoeff
if coef_volt < 150: # No solution
return 0
elif coef_volt > 3300:
return 0
if coef_volt <= 448:
ec_cur = 6.84 * coef_volt - 64.32
elif coef_volt <= 1457:
ec_cur = 6.98 * coef_volt - 127
else:
ec_cur = 5.3 * coef_volt + 2278
ec_cur = ec_cur / 1000 # convert us/cm to ms/cm
return ec_cur
def tempCoeff(self):
return 1.0 + 0.0185 * (self._temp - 25.0)
class Sonar:
"""Sonar library"""
MIN_DISTANCE = 50
MAX_DISTANCE = 600
def __init__(self, debug=False, out_pin='X11'):
self.out_pin = ADC(Pin(out_pin))
self.debug = debug
def get_distance(self):
value = self.out_pin.read()
result = round(1024 * value / 5000) - self.MIN_DISTANCE
if (0 > result):
result = 0
if True == self.debug:
print('value', value)
print('distance', result)
return result
def get_distance_cm(self):
return round(self.get_distance() / 10, 2)
def is_see_board(self):
return (self.MAX_DISTANCE > self.get_distance())
class SplitPot:
def __init__(self,pinName,mapRange,nbSplits=2,cutOff=5):
self.adc = ADC(pinName)
self.nbRanges = nbSplits
self.ranges = getRanges(nbSplits,cutOff)
self.mappers = [RMap(r,mapRange,True) for r in self.ranges]
def update(self,avgNum=5):
""" returns a tuple(range,value) if reading is ok, or None if not
uses a rolling average to smooth the results
"""
res = None
vADC = 0
for i in range(avgNum):
vADC += self.adc.read()
delay(1)
vADC /=avgNum
for i in range(self.nbRanges):
if vADC in range(self.ranges[i][0],self.ranges[i][1]):
res = (i,self.mappers[i].v(vADC))
return res
def test(self):
""" a little test routine that will conitnually read the pot and print the values
"""
try:
while True:
v = self.update()
if v!=None:
print (v)
except KeyboardInterrupt:
print('Done')
def __init__(self,xp,yp, pbp, pbFunc): # last arg is a pointer to the interrupt handler
self.XPin = ADC(Pin(xp))
self.YPin = ADC(Pin(yp))
self.PBPin = Pin(pbp, Pin.IN, Pin.PULL_UP)
self.maxAnalog = 4095
self.minAnalog = 0
self.maxOutput = 100
self.minOutput = -100
self.pinExpo = 25
self.onPB = pbFunc
self.changeDelta = 400 # ms
self.lastChangeTime = 0 # ms
self._calibrateXY()
class IRDistance(object):
""" Driver for Sharp Gp2y0a IR distance sensor. The distance
range is around 3 to 40 inches. """
maxinches = 31.5 #Maximun range of IR board in inches.
_v2i = -1.02 #Voltage to inches power.
def __init__( self, pin ) :
"""pin may be name or pin object. It must be able to handle ADC input."""
if type(pin) == str:
p = Pin(pin)
elif type(pin) == Pin:
p = pin
else:
raise Exception("pin must be pin name or pyb.Pin able to support ADC")
self._adc = ADC(p)
@property
def distance( self ) : return self._adc.read()
@property
def inches( self ) :
volts = self.distance * 0.0048828125
return 65.0 * pow(volts, IRDistance._v2i)
@property
def centimeters( self ) : return self.inches * 2.54
class GroveAirQuality(object):
def __init__(self, pin):
self.adc = ADC(pin)
@property
def value(self):
return self.adc.read() / 4096 * 1024
def __init__(self,
directionPinA,
directionPinB,
pwmPin,
encoderNumber=None,
cs=None,
max_speed=127):
"""
Parameters
----------
directionPinA : Pin name, pyb.Pin, e.g. pyb.Pin.board.Y7
directionPinB : pyb.Pin, e.g. pyb.Pin.board.Y7
pwmPin : pyb.Pin, e.g. pyb.Pin.board.Y7
encoderNumber :
cs : pyb.Pin, e.g. pyb.Pin.board.Y7
max_speed : int
"""
self.directionPinA = Pin(directionPinA, Pin.OUT)
self.directionPinB = Pin(directionPinB, Pin.OUT)
self.pwm = PWM(pwmPin)
self.directionFactor = 1
#self.directSetSpeed(0)
#self.set_speed(0)
#self.encoder = pyb.Encoder(encoderNumber)
self.encoderLastCount = 0
self.desiredSpeed = 0
self.cs = cs
self.cs_adc = ADC(self.cs)
self.max_speed = max_speed
self.direct_set_speed(0)
class LaserBeam:
def __init__(self, laser_pinname, photodiode_pinname):
self.laser = Pin(laser_pinname, Pin.OUT_OD)
self.photodiode = ADC(photodiode_pinname)
self.threshold = 100
def ping(self):
dark = self.photodiode.read()
self.laser.value(0) # pull down to on
light = self.photodiode.read()
self.laser.value(1) # float to off
return light-dark
def interrupted(self):
return self.ping() < self.threshold \
and sum(self.ping() for i in range(10)) < 10 * self.threshold
class LaserBeam:
def __init__(self, laser_pinname, photodiode_pinname):
self.laser = Pin(laser_pinname, Pin.OUT_OD)
self.photodiode = ADC(photodiode_pinname)
self.threshold = 100
def ping(self):
dark = self.photodiode.read()
self.laser.value(0) # pull down to on
light = self.photodiode.read()
self.laser.value(1) # float to off
return light - dark
def interrupted(self):
return self.ping() < self.threshold \
and sum(self.ping() for i in range(10)) < 10 * self.threshold
class IRDistance(object):
""" Driver for Sharp Gp2y0a IR distance sensor. The distance
range is around 3 to 40 inches. """
maxinches = 31.5 #Maximun range of IR board in inches.
_v2i = -1.02 #Voltage to inches power.
def __init__(self, pin):
"""pin may be name or pin object. It must be able to handle ADC input."""
if type(pin) == str:
p = Pin(pin)
elif type(pin) == Pin:
p = pin
else:
raise Exception(
"pin must be pin name or pyb.Pin able to support ADC")
self._adc = ADC(p)
@property
def distance(self):
return self._adc.read()
@property
def inches(self):
volts = self.distance * 0.0048828125
return 65.0 * pow(volts, IRDistance._v2i)
@property
def centimeters(self):
return self.inches * 2.54
class irdistance(object):
""" Driver for Sharp Gp2y0a IR distance sensor. The distance
range is around 3 to 40 inches. """
def __init__(self, pin):
"""pin may be name or pin object. It must be able to handle ADC input."""
if type(pin) == str:
p = Pin(pin)
elif type(pin) == Pin:
p = pin
else:
raise Exception(
"pin must be pin name or pyb.Pin able to support ADC")
self._adc = ADC(p)
@property
def distance(self):
return self._adc.read()
@property
def inches(self):
#distance / 204.8? Why?
volts = self.distance * 0.0048828125
#inches = v^-1.02.
return 65.0 * pow(volts, -1.02)
@property
def centimeters(self):
return self.inches * 2.54
def main():
"""
The method that controls everything.
Initialization procedure:
1: Wait for bytes from PC are specifically 'start'
1a: Dim the indicator light
2: Write the array of pins, `pin_strings`, so that the PC knows what it's working with
"""
# Objects
usb = VCP()
# Initial
while True:
read = usb.read_timeout(inf)
if read == 'start':
usb.write_encode('start')
break
# Object manipulation
indicator_light.intensity(32) # dim the indicator light
# Writes
usb.write_encode(pin_strings)
# Reads
timer_frequency = int(usb.verify_read(inf))
# Post init variables
pins = tuple(Pin(i) for i in pin_strings)
adc_pins = tuple(ADC(p) for p in pins)
adc_arrays = tuple(array('H', [0]) for j in adc_pins)
timer = Timer(8, freq=timer_frequency)
# Loop
while True:
start_time = millis()
ADC.read_timed_multi(adc_pins, adc_arrays, timer)
if usb.read_timeout(1) == 'kill':
hard_reset()
write_table = {}
usb.write_encode('newset\n')
for i, v in enumerate(adc_arrays):
usb.write_encode('\'{pin}\': {value}\n'.format(pin=pin_strings[i],
value=v[0]))
#write_table[pin_strings[i]] = v[0]
usb.write_encode('endset\n')
write_table['duration'] = elapsed_millis(start_time)
def remote():
#initialise UART communication
uart = UART(6)
uart.init(9600, bits=8, parity = None, stop = 2)
# define various I/O pins for ADC
adc_1 = ADC(Pin('X19'))
adc_2 = ADC(Pin('X20'))
# set up motor with PWM and timer control
A1 = Pin('Y9',Pin.OUT_PP)
A2 = Pin('Y10',Pin.OUT_PP)
pwm_out = Pin('X1')
tim = Timer(2, freq = 1000)
motor = tim.channel(1, Timer.PWM, pin = pwm_out)
# Motor in idle state
A1.high()
A2.high()
speed = 0
DEADZONE = 5
# Use keypad U and D keys to control speed
while True: # loop forever until CTRL-C
while (uart.any()!=10): #wait we get 10 chars
n = uart.any()
command = uart.read(10)
if command[2]==ord('5'):
if speed < 96:
speed = speed + 5
print(speed)
elif command[2]==ord('6'):
if speed > - 96:
speed = speed - 5
print(speed)
if (speed >= DEADZONE): # forward
A1.high()
A2.low()
motor.pulse_width_percent(speed)
elif (speed <= -DEADZONE):
A1.low() # backward
A2.high()
motor.pulse_width_percent(-speed)
else:
A1.low() # idle
A2.low()
def __init__(self):
self.ultrasonic_sensor = ADC(Pin("X4"))
self.hall_sensor = Pin("X6", Pin.IN)
self.pot = ADC(Pin("X8"))
self.ring = WS2812(spi_bus=2, led_count=15)
self.red = Colour(1, 0, 0)
self.green = Colour(0.4, 1, 0)
self.purple = Colour(0.4, 0, 1)
self.off = Colour(0, 0, 0)
self.magnet_detected = self.green
self.ultrasound_detected = self.purple
self.colour = self.red
self.HISTORY_DEPTH = 15
self.history = [0 for i in range(self.HISTORY_DEPTH)]
self.i = 0
class Mic:
def __init__(self, mic_pinname, timer_id=6):
self.mic = ADC(mic_pinname)
self.tim = Timer(timer_id, freq=48000)
self.samples = array.array('h', range(4800))
self.normalized_spl = 0.0
def level(self):
samples = self.samples
self.mic.read_timed(samples, self.tim)
ave = sum(samples) / len(samples)
self.normalized_spl = \
min(1.0, sum((v-ave)**2 for v in samples) / len(samples) / 2278619.0)
return self.normalized_spl
def excited(self):
return self.level() > 0.01
class ZZSGTHC:
def __init__(self, adcPin):
self.adc = ADC(Pin(adcPin))
def getSoilMoisture(self):
voltage = self.adc.read()
moisture = voltage * 2 / 100
return round(moisture, 2)
class Mic:
def __init__(self, mic_pinname, timer_id=6):
self.mic = ADC(mic_pinname)
self.tim = Timer(timer_id, freq=48000)
self.samples = array.array('h', range(4800))
self.normalized_spl = 0.0
def level(self):
samples = self.samples
self.mic.read_timed(samples, self.tim)
ave = sum(samples) / len(samples)
self.normalized_spl = \
min(1.0, sum((v-ave)**2 for v in samples) / len(samples) / 2278619.0)
return self.normalized_spl
def excited(self):
return self.level() > 0.01
def adc_setstate(state):
#assert(state == 'SingleDMA' or state == "TripleDMA" or state == "Single" or state =="NONE")
global ADC_STATE
if state != ADC_STATE:
ADC_STATE = state
global adc
adc.deinit_setup()
adc = ADC(adcpin, state)
else:
print("ADC STATE UNCHANGED")
def calibrate():
global calibint
global count
global calibadc
count = 0 # reset counter
adc_setstate("Single") # set state of adc obj to mode Single
calibadc = ADC(calibpin, "Single") # init the second ADC in mode Single
calibint.enable()
utime.sleep(10) # 10s of calibration
calibint.disable()
class GroveTemp(object):
def __init__(self, pin):
self.adc = ADC(pin)
def value(self):
val = self.adc.read()
R = 4095/val-1.0
R = R0*R
temperature = 1.0/(math.log10(R/R0)/B+1/298.15)-273.15
return temperature
def init(cls):
cls._gps = Pin('X5', mode=Pin.OUT_PP, pull=Pin.PULL_DOWN)
cls._gsm = Pin('X6', mode=Pin.OUT_PP, pull=Pin.PULL_DOWN)
cls._gps.value(True)
cls._gsm.value(True)
cls._red = LED(1)
cls._blue = LED(4)
cls._batt = ADC('X7') # create an analog object from a pin
class GroveSPL(object):
def __init__(self, pin):
self.adc = ADC(pin)
def value(self):
val = 0
for i in range (100):
val = val + self.adc.read()
val = val / 100
return val
class Mode:
def __init__(self):
self.ultrasonic_sensor = ADC(Pin("X4"))
self.hall_sensor = Pin("X6", Pin.IN)
self.pot = ADC(Pin("X8"))
self.ring = WS2812(spi_bus=2, led_count=15)
self.red = Colour(1, 0, 0)
self.green = Colour(0.4, 1, 0)
self.purple = Colour(0.4, 0, 1)
self.off = Colour(0, 0, 0)
self.magnet_detected = self.green
self.ultrasound_detected = self.purple
self.colour = self.red
self.HISTORY_DEPTH = 15
self.history = [0 for i in range(self.HISTORY_DEPTH)
] #stores the last few values recorded
self.i = 0
def loop(self):
self.i += 1 #increase the pointer by one
self.i = self.i % self.HISTORY_DEPTH #ensure that the pointer loops back to 0 when it reaches the end of the list
if self.ultrasonic_sensor.read(
) > 2800: #2700 is the threshold voltage, we found the value generally only exceeds 2600 if the ultrasonic sensor is nearby
self.history[
self.
i] = 1 #adds a 1 / True value to the history as the sensor has detected ultrasound
else:
self.history[
self.
i] = 0 #adds a 0 / False value as the sensor hasn't detected ultrasound
#calculates the number of times the ultrasound has been triggered within the alloted time
self.total = 0
for x in self.history:
self.total += x
#if it's greater than one assume that an ultrasound has been detected
#however the brightness of the LEDs can reflect the certainty (the more time's it has been triggered within the time, the more certain we are)
if self.total > 0:
self.colour = self.ultrasound_detected
self.colour.brightness = self.total / self.HISTORY_DEPTH * 125 #the certainty is reflected in the brightness of the LEDs
#checks to see if the hall sensor value
elif not self.hall_sensor.value():
self.colour = self.magnet_detected
self.colour.brightness = 100
else:
self.colour = self.off
self.data = [(self.colour.R, self.colour.G, self.colour.B)
for i in range(15)]
self.ring.show(self.data)
def __repr__(self):
return 'task_two'
def __init__(self,pin,rm=None):
"""
instance creation, args:
* pin is a pyb.Pin object as per: pyb.Pin('X1', pyb.Pin.ANALOG)
* an optional RMap instance to provide a reading in the proper range
"""
self.a = ADC(pin)
if rm:
self.v = lambda x: rm.v(x)
else:
self.v = lambda x:x
def __init__(self):
self.tim = Timer(2, freq=1000)
self.A1 = 'X7'
self.A2 = 'X8'
self.PWMA = 'X2'
self.chanA = 2
self.motorA = Motor(self.A1, self.A2, self.PWMA, self.chanA, self.tim)
self.B1 = 'X4'
self.B2 = 'X3'
self.PWMB = 'X1'
self.chanB = 1
self.motorB = Motor(self.B1, self.B2, self.PWMB, self.chanB, self.tim)
self.speed = 50
self.ROTATION_SPEED = 50
self.pot = ADC(Pin('X11'))
def __init__( self, pin ) :
"""pin may be name or pin object. It must be able to handle ADC input."""
if type(pin) == str:
p = Pin(pin)
elif type(pin) == Pin:
p = pin
else:
raise Exception("pin must be pin name or pyb.Pin able to support ADC")
self._adc = ADC(p)
def lightLevel():
adc=ADC(Pin('X1'))
level=float(adc.read())
volt=(level/4095)*3.3
resitor=(1500*volt)/(3.3-volt)
tem=(0.0587*resitor-99.1176)
i2c = I2C(1)
i2c.init(I2C.MASTER, baudrate=10000)
i2c.send(0x43, addr=0x39)
channel0_data = i2c.recv(1, addr=0x39)[0]
i2c.send(0x83, addr=0x39)
channel1_data = i2c.recv(1, addr=0x39)[0]
if (channel0_data&0x80>0) and (channel1_data&0x80>0):
chord0=cho(channel0_data)
step0=ste(channel0_data)
chord1=cho(channel1_data)
step1=ste(channel1_data)
#print(chord0,chord1,step0,step1)
cho0_count=adc_value(chord0,step0)
cho1_count=adc_value(chord1,step1)
level=light(cho0_count,cho1_count)
print(level,tem)
class VoltageDividerPot:
def __init__(self,pin,rm=None):
"""
instance creation, args:
* pin is a pyb.Pin object as per: pyb.Pin('X1', pyb.Pin.ANALOG)
* an optional RMap instance to provide a reading in the proper range
"""
self.a = ADC(pin)
if rm:
self.v = lambda x: rm.v(x)
else:
self.v = lambda x:x
def update(self):
"""
returns the current reading as per config
"""
return self.v(self.a.read())
def __init__(self,pinName,id,q,isToneRange=False,outputRangeTuple=(0,5),cutOff=30,spacing=30): #bMgr,
"""
Create an instance:
* pinName is used for the creation of the ADC, be sure to use a pin with an ADC!
* outputRangeTuple is the range for output values after conversion & mapping
* cutOff is the analog reading below wich a reading is considered NOISE, and is thus ignored
* spacing is the number of readings between the 2 pots
* if isToneRange, then the first range is reduced to length of 0
"""
self.q = q
self.adc = ADC(pinName)
self.id = id
self.cutOff = cutOff
self.ranges = [(cutOff,cutOff+1 if isToneRange else 2048-round(spacing/2.0)),
(2048+round(spacing/2.0),4095-cutOff)]
self.rMaps = [RMap(r,outputRangeTuple,True) for r in self.ranges]
self.isToneRange = isToneRange
self.tracking = False
self.update = self.noTrackingUpdate
self.track(False)
def __init__(self, mic_pinname, timer_id=6):
self.mic = ADC(mic_pinname)
self.tim = Timer(timer_id, freq=48000)
self.samples = array.array('h', range(4800))
self.normalized_spl = 0.0
from pyb import Pin, ADC, UART, I2C, DAC
import char_lcd
import time
import math
import binascii
import pyb
from light import lightvalue
print ("kek")
#Define sensors
tempsensor = ADC(Pin('X1'))
motionsensor = Pin('Y12', Pin.IN, Pin.PULL_UP)
beeper = DAC(1)
waterportion = Pin('X11', Pin.OUT_PP)
doortrigger = Pin('Y7', Pin.IN, Pin.PULL_UP)
doortrigger2 = Pin('Y8', Pin.IN, Pin.PULL_UP)
#Define UART bus and I2C bus
uart = UART(6, 115200)
i2c = I2C(1, I2C.MASTER, baudrate = 9600)
i2c2 = I2C(2, I2C.MASTER, baudrate = 9600)
#Define LCD
d = char_lcd.HD44780(i2c2)
def changetemp(temp):
#Convert the value the temperature sensor gives into celsius:
URX = (temp / 4095) * 3.3
import pyb
from pyb import Pin, Timer, ExtInt
from pyb import LED
from pyb import Pin, Timer, ADC, DAC, LED
import time
from oled_938 import OLED_938
from mpu6050 import MPU6050
from motor import DRIVE
import micropython
micropython.alloc_emergency_exception_buf(100)
pot = ADC(Pin('X11'))
oled = OLED_938(pinout={'sda': 'Y10', 'scl': 'Y9', 'res': 'Y8'}, height=64, external_vcc=False, i2c_devid=61)
oled.poweron()
oled.init_display()
oled.draw_text(0,0, 'Group 8')
oled.draw_text(0, 10, 'Milestone 3: Balencing')
oled.draw_text(0, 20, 'Press USR button')
oled.display()
print('Performing Milestone 3')
print('Waiting for button press')
trigger = pyb.Switch() # Create trigger switch object
while not trigger(): # Wait for trigger press
time.sleep(0.001)
while trigger():
pass # Wait for release
print('Button pressed - Running')
from pyb import ADC, Timer
adct = ADC(16) # Temperature 930 -> 20C
print(adct)
adcv = ADC(17) # Voltage 1500 -> 3.3V
print(adcv)
# read single sample; 2.5V-5V is pass range
val = adcv.read()
assert val > 1000 and val < 2000
# timer for read_timed
tim = Timer(5, freq=500)
# read into bytearray
buf = bytearray(b'\xff' * 50)
adcv.read_timed(buf, tim)
print(len(buf))
for i in buf:
assert i > 50 and i < 150
# read into arrays with different element sizes
import array
arv = array.array('h', 25 * [0x7fff])
adcv.read_timed(arv, tim)
print(len(arv))
for i in arv:
assert i > 1000 and i < 2000
arv = array.array('i', 30 * [-1])
adcv.read_timed(arv, tim)
from pyb import ADC
from pyb import Pin
adc = ADC('X22')
print(adc)
adc.read()
buf = bytearray(100)
adc.read_timed(buf, 500)
# Read ADC Example
#
# This example shows how to read the ADC on your OpenMV Cam.
import time
from pyb import ADC
adc = ADC("P6") # Must always be "P6".
while(True):
# The ADC has 12-bits of resolution for 4096 values.
print("ADC = %fv" % ((adc.read() * 3.3) / 4095))
time.sleep(100)
# Task 4: Joystick Controlling the Motor
# Author: BSG
# Version 1.0
# 26 May 2016
print ('This is Test 4: Joystick Controlling the Motor')
from pyb import Pin, Timer, ADC
while True:
pyb.delay(1)
A1 = Pin('Y9',Pin.OUT_PP)
A2 = Pin('Y10',Pin.OUT_PP)
A1.high()
A2.low()
motor = Pin('X1')
tim = Timer(2, freq = 1000)
ch = tim.channel(1, Timer.PWM, pin = motor)
adc_1 = ADC(Pin('X19')) #vertical
adc_2 = ADC(Pin('X20')) #horizontal
J_sw = Pin('Y11', Pin.IN) #switch
vertical = (int(adc_2.read()) / 1700)*100
ch.pulse_width_percent(vertical)
from pyb import ADC
from pyb import Pin
pin = Pin('X22', mode=Pin.IN, pull=Pin.PULL_DOWN)
adc = ADC('X22')
print(adc)
# read single sample
val = adc.read()
assert val < 500
# read into bytearray
buf = bytearray(50)
adc.read_timed(buf, 500)
print(len(buf))
for i in buf:
assert i < 500
# read into arrays with different element sizes
import array
ar = array.array('h', 25 * [0])
adc.read_timed(ar, 500)
print(len(ar))
for i in buf:
assert i < 500
ar = array.array('i', 30 * [0])
adc.read_timed(ar, 500)
print(len(ar))
for i in buf:
assert i < 500
class SplitPot:
""""
This version only works for 2 pot split,
reads the ADC 10 times over 10ms, and aborts if any of the values is out of scope!
"""
def __init__(self,pinName,id,q,isToneRange=False,outputRangeTuple=(0,5),cutOff=30,spacing=30): #bMgr,
"""
Create an instance:
* pinName is used for the creation of the ADC, be sure to use a pin with an ADC!
* outputRangeTuple is the range for output values after conversion & mapping
* cutOff is the analog reading below wich a reading is considered NOISE, and is thus ignored
* spacing is the number of readings between the 2 pots
* if isToneRange, then the first range is reduced to length of 0
"""
self.q = q
self.adc = ADC(pinName)
self.id = id
self.cutOff = cutOff
self.ranges = [(cutOff,cutOff+1 if isToneRange else 2048-round(spacing/2.0)),
(2048+round(spacing/2.0),4095-cutOff)]
self.rMaps = [RMap(r,outputRangeTuple,True) for r in self.ranges]
self.isToneRange = isToneRange
self.tracking = False
self.update = self.noTrackingUpdate
self.track(False)
def isMaster(self):
return (self.id == 0)
def track(self,onOff):
self.tracking = onOff
if onOff:
self.update = self.trackingUpdate
self.enQV= [EnQueueable((EnQueueable.INC,EnQueueable.VOL),self.q),
EnQueueable((EnQueueable.INC,EnQueueable.TONE),self.q)]
else:
self.update = self.noTrackingUpdate
self.enQV= [EnQueueable((EnQueueable.VOL,),self.q),
EnQueueable((EnQueueable.TONE,),self.q)]
def poll(self):
#if not self.bounceMgr.ready():
# return
res = self.update()
if res:
#self.bounceMgr.trigger()
irq_state = disable_irq()
self.enQV[res[0]].push(self.id,res[1])
enable_irq(irq_state)
def getTrackingRange(self,vADC):
curRange = None
# 2 splits if not ToneRange, only second split if ToneRange
for i in range((1 if self.isToneRange else 0),2):
if vADC >= self.ranges[i][0] and vADC<=self.ranges[i][1]:
curRange=i
break
return curRange
def inBounds(self,vADC):
#print ('inBounds returning: ', (vADC >= self.cutOff and vADC <= self.ranges[1][1]))
return (vADC >= self.cutOff and vADC <= self.ranges[1][1])
def trackingUpdate(self):
"""
This means we touch and hold, slide, then let go.
The slide distance corresponds to the magnitude and sign of the
desired dec/increment.
To simplify, we dec/inc by +/- 0,1,2.
The initial touch determines the choice of vol or tone.
The slide can go beyond the mid line dead zone without being
invalidated!
Sadly, calling INC means that the microvaluator will interpret the value to be inced,
so we have to multiply the inc by 10 !!
vRead <- adc.read()
rangeId <- computeRange(Vread)
if rangeId != None: that means vRead is a value in a valid range
vInit <- vRead
vLast <- vInit
else:
return None
while vRead >lowCutOff && vRead < highCutoff and the delta(vLast,vRead) is with 30% of vLast
vLast <- vRead
vRead <- adc.read()
delta <- abs(vLast - vInit)
sign <- 1 if vLast >= vInit else -1 # NO it's upside down!
if delta < epsilon: # we have no tracked values
return None
else if delta > bigStep:
return (rangeId,20*sign)
else:
return (rangeId, 10*sign)
convert to +1 or -1 (or maybe even +/-2 if big difference bewteen vLast and vInit
and add to present value??
return new value
else:
return None
"""
vInit = self.adc.read()
rangeID = self.getTrackingRange(vInit)
if rangeID == None:
return
vLast = vInit
vRead = self.adc.read()
#print('vInit: ', vInit)
#print('rangeID: ', rangeID)
#print('new vRead: ',vRead)
while (self.inBounds(vRead) and abs(vRead-vLast) < State.splitPotTrackingPercentCutoff*vLast):
vLast = vRead
vRead = self.adc.read()
delay(1)
#print('final vRead: ', vRead)
#print('final vLast: ', vLast)
delta = abs(vLast-vInit)
sign = -1 if vInit >= vLast else 1
#print('vInit: ', vInit, 'vLast: ',vLast)
#print('delta: ', delta, 'sign: ', sign)
#print('parametered Corrected! SplitPot ID: ',self.id)
if self.isMaster():
sign *= State.splitPotMasterFactor # correct for microvaluation on master vol/tone!
if delta < State.splitPotTrackingError:
#print('return None')
return None
elif delta < State.splitPotTrackingBigStep:
#print('return (',rangeID,sign*State.splitPotTrackingSmallMultiplier,')')
return (rangeID,sign*State.splitPotTrackingSmallMultiplier)
elif delta < 2*State.splitPotTrackingBigStep:
#print('return (',rangeID,sign*State.splitPotTrackingBigMultiplier,')')
return (rangeID,sign*State.splitPotTrackingBigMultiplier)
else:
# this is full vol/tone in one go!
#print('return (',rangeID,sign*5,')') # State.splitPotTrackingBigMultiplier
return (rangeID,sign*5) #State.splitPotTrackingBigMultiplier)
def noTrackingUpdate(self):
"""
takes nbReadings reads, then avgs them and maps the result to the appropriate range and returns it.
returns None if no valid value read
"""
nbReadings = State.splitPotNoTrackingNbReadings
vADC = 0
for i in range(nbReadings):
v=self.adc.read()
if v<self.cutOff or (v>self.ranges[0][1] and v<self.ranges[1][0]) or v>self.ranges[1][1]:
#print(v)
return None
vADC += v
delay(1)
vADC = round(vADC/nbReadings)
#print(vADC)
for i in range((1 if self.isToneRange else 0),2): # 2 splits if not ToneRange, only second split if ToneRange
if vADC >= self.ranges[i][0] and vADC<=self.ranges[i][1]:
#State.printT('VADC= ' +str(vADC) + " tuple: " +str((i,self.rMaps[i].v(vADC))))
return (i,self.rMaps[i].v(vADC))
from pyb import ADC
from pyb import Pin
pin = Pin('X22', mode=Pin.IN, pull=Pin.PULL_DOWN)
adc = ADC('X22')
print(adc)
# read single sample
val = adc.read()
assert val < 500
# timer for read_timed
tim = pyb.Timer(5, freq=500)
# read into bytearray
buf = bytearray(50)
adc.read_timed(buf, tim)
print(len(buf))
for i in buf:
assert i < 500
# read into arrays with different element sizes
import array
ar = array.array('h', 25 * [0])
adc.read_timed(ar, tim)
print(len(ar))
for i in buf:
assert i < 500
ar = array.array('i', 30 * [0])
adc.read_timed(ar, tim)
print(len(ar))
"""
from pyb import ADC
import os
machine = os.uname().machine
if "LaunchPad" in machine:
adc_pin = "GP5"
adc_channel = 3
elif "WiPy" in machine:
adc_pin = "GP3"
adc_channel = 1
else:
raise Exception("Board not supported!")
adc = ADC(0)
print(adc)
adc = ADC()
print(adc)
adc = ADC(0, bits=12)
print(adc)
apin = adc.channel(adc_channel)
print(apin)
apin = adc.channel(id=adc_channel)
print(apin)
apin = adc.channel(adc_channel, pin=adc_pin)
print(apin)
apin = adc.channel(id=adc_channel, pin=adc_pin)
print(apin)
def __init__(self,pinName,mapRange,nbSplits=2,cutOff=5):
self.adc = ADC(pinName)
self.nbRanges = nbSplits
self.ranges = getRanges(nbSplits,cutOff)
self.mappers = [RMap(r,mapRange,True) for r in self.ranges]
def __init__(self, laser_pinname, photodiode_pinname):
self.laser = Pin(laser_pinname, Pin.OUT_OD)
self.photodiode = ADC(photodiode_pinname)
self.threshold = 100