def pye(*args, tab_size=4, undo=50):
from pyb import USB_VCP
USB_VCP().setinterrupt(-1)
io_device = IO_DEVICE()
ret = pye_edit(*args, tab_size=tab_size, undo=undo, io_device=io_device)
io_device.deinit_tty()
USB_VCP().setinterrupt(3)
return ret
def main():
# usb object
usb = USB_VCP()
i = 0
j = 0
emailNum = 0
while (True):
clock.tick()
img = sensor.snapshot(pixformat=sensor.GRAYSCALE)
blobs = img.find_blobs(threshold_list,
pixels_threshold=0,
area_threshold=0,
merge=True)
cmd = usb.recv(4, timeout=1)
if (cmd == b'snap'):
i = 0
emailNum = 0
if (i == 0):
usb.send(244)
if (blobs):
i = 1
if (i == 1):
fire_blob = max(blobs, key=lambda x: x.density())
img.draw_rectangle(fire_blob.rect())
img.draw_cross(fire_blob.cx(), fire_blob.cy())
# For pan control
xPos = fire_blob.cx()
xErr = 20 - xPos
# For tilt control
yPos = fire_blob.cy()
yErr = 15 - yPos
#img.draw_string(fire_blob.x(), fire_blob.y() - 10, "Pan Error: %.2f pixels" % xPosErr, mono_space=False)
usb.send(xPos)
usb.send(yPos)
if ((xErr <= 1 and xErr >= -1) and (yErr <= 1 and yErr >= -1)
and emailNum == 0):
bigPic() # Convert to better resolution for email photo
img2 = sensor.snapshot(pixformat=sensor.GRAYSCALE)
blobs = img2.find_blobs(threshold_list,
pixels_threshold=0,
area_threshold=0,
merge=True)
fire_blob = max(blobs, key=lambda x: x.density())
img2.draw_rectangle(fire_blob.rect())
img2.draw_cross(fire_blob.cx(), fire_blob.cy())
img2.to_rainbow(
color_palette=sensor.PALETTE_IRONBOW) # color it
imgUSB = img2.compress()
usb.send(ustruct.pack("<L", imgUSB.size()))
usb.send(imgUSB)
emailNum = 1
smallPic() # Convert back to low-res imaging for control
def __init__(self):
self.usb_serial = USB_VCP()
self.baud = 0
self.recv_buf = bytearray(1)
# Disable Control-C on the USB serail port in case one comes in the
# data.
self.usb_serial.setinterrupt(-1)
def __init__(self, role):
self.role = role
self.console = USB_VCP()
self.command_dispatch = { }
self.cmd_hist = [b'']
self.prompt = bytes(self.role + '> ', 'ASCII')
self.tx_want_ack = True
self.destination = bytes(8)
def __init__(self, port=0, data_rate=None, host_id=2, module_id=1, debug=False):
del data_rate
tmcl_module_interface.__init__(self, host_id, module_id, debug)
tmcl_host_interface.__init__(self, host_id, module_id, debug)
self.__vcp = USB_VCP(port)
self.__vcp.init()
self.__vcp.setinterrupt(-1)
def run_usb_vcp_test():
serial_port = USB_VCP()
nmea_line = None
#serial_port.setinterrupt(-1)
while True:
# retrieving data
if serial_port.any():
nmea_line = str(serial_port.readline(), 'utf-8')
if nmea_line:
delay(1)
nmea_line = None
delay(50)
import sensor, image, time
from pyb import USB_VCP
# Pink
thresholds = [(20, 85, 25, 100, -45, 40)]
# Sensor Initialization
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
# USB Initialization
usb = USB_VCP()
# Send X,Y
while (True):
img = sensor.snapshot()
for blob in img.find_blobs(thresholds,
pixels_threshold=25,
area_threshold=25,
merge=True):
# Filter non-circle blobs
if blob.roundness() > 0.6:
buf = str(blob.cx()) + ' ' + str(blob.cy())
usb.send(buf)
# Draw red circle around ball
try:
from pyb import DAC
from pyb import LED
from pyb import Pin
from pyb import USB_VCP
sensitivity, maxn, minn = .5, 255, 0
com = USB_VCP()
light = DAC(2)
y1, y2, y3 = Pin('Y1', Pin.IN), Pin('Y2', Pin.IN), Pin('Y3', Pin.IN)
intensity, oldStr = maxn, str(y1.value()) + str(y2.value())
directTab = {
'1000': 1,
'0001': 1,
'0111': 1,
'1110': 1,
'1011': -1,
'1101': -1,
'0100': -1,
'0010': -1
}
def setByte(i):
return i.to_bytes(1)
def limitNums(num, maxn, minn):
return max(minn, min(maxn, num))
def handleLEDs(intensity, value):
# Turn on the light so you know something is happening
led = LED(4)
led.on()
# Write out a sinusoidal curve to channel X5, which is wired via a
# female-female jumper to X2
# --
# create a buffer containing a sine-wave, using half-word samples
buf = array(
'H', 2048 + int(2047 * math.sin(2 * math.pi * i / 128))
for i in range(128))
dac = DAC(1, bits=12) # Wired to X5
dac.write_timed(buf, 400 * len(buf), mode=DAC.CIRCULAR)
# Instatiate the USB serial object
u = USB_VCP()
u.write('Hello world!!')
# Enter into an infinite loop
while True:
# Get a line from the serial connection
line = u.readline()
# If there is nothing, line will be None
if not line is None and line:
# What you got is a byte object, convert from bytes (binary data) to python string
line = line.decode('ascii')
def __init__(self):
self.vs = USB_VCP()
self.direction = 0
self.speed = 0
self.select_dir = 0
self.select_speed = 0
def pye(*files):
from pyb import USB_VCP
USB_VCP().setinterrupt(-1)
pye_mp.pye(*files)
USB_VCP().setinterrupt(3)
from pyb import LED, Timer, Pin, Switch, UART, USB_VCP
from Basic.Car_Driver import Car_Driver as Car
from Basic.Wifi_Driver import Wifi_Driver as Wifi
from Basic.ComHelper import ComHelper
sw = Switch()
led1 = LED(1)
led2 = LED(2)
led3 = LED(3)
led4 = LED(4)
usb_uart = USB_VCP()
car = Car(['Y1', 'Y2', 'Y3', 'Y4'])
wifi = Wifi()
getter = ComHelper()
def car_control(ret):
if ret == 'w':
car.Right_move(1)
car.Left_move(1)
elif ret == 's':
car.Right_move(2)
car.Left_move(2)
elif ret == 'a':
car.Right_move(1)
car.Left_move(2)
elif ret == 'd':
car.Right_move(2)
from pyb import USB_VCP # importing the library for USb VCP(Virtual Comm Port).
usb = USB_VCP() # makes USB object
while (True): # making a loop to continously send data
usb.send("hi123") # send function to send script.
''' NOTE
usb.send() fucntion send the data character by character.
for ex: usb.send("hi123") send the "hi123" string as "h", "i", "1", "2", "3".
'''
def run_uav_test(i2c_bus=2):
global SIGNALS
global SIGNAL_USR
SIGNALS[0] = 0
serial_port = USB_VCP()
nmea_line = None
# serial_port.setinterrupt(-1)
disp = display.create_spi_display(SSD1322, 256, 64)
i2c = I2C(i2c_bus, freq=400000)
devices = i2c.scan()
lsm303 = LSM303D(i2c)
switch = Switch()
speed_pid = PID(target=500, kp=.4, ki=.2, kd=.1)
uav['pid'] = speed_pid
timestamp = None
w = 0
screen_renderers = [
render_gps_screen, render_hud_screen, render_imu_screen
]
renderer_idx = 0
render_screen = screen_renderers[renderer_idx]
switch.callback(switch_cb)
while True:
# retrieving data
accel, mag = lsm303.read()
if serial_port.any():
nmea_line = str(serial_port.readline(), 'utf-8')
# processing data
x, y, z = accel
x, z, y = mag
uav['imu']['north'] = atan2(y, x) * 180.0 / pi
if nmea_line:
update_gps_data(nmea_line)
nmea_line = None
# sending orders
if renderer_idx % 2:
if timestamp:
pid_value = speed_pid.update(
uav['speed'],
elapsed_millis(timestamp) / 1000.0)
adjust_throttle(serial_port, pid_value)
timestamp = millis()
if SIGNALS[0] & SIGNAL_USR:
renderer_idx = renderer_idx + 1
render_screen = screen_renderers[renderer_idx %
len(screen_renderers)]
SIGNALS[0] = SIGNALS[0] & ~SIGNAL_USR
render_screen(disp.framebuf, uav)
disp.send_buffer()
delay(50)
