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)
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')
# Split the string at the delimiter, creating a 3-element list
els = line.strip().split(',')
# Get the scope parameters that are passed (0-based indexing!)
pin = els[0]
interval_us = int(els[1])
count = int(els[2])
# First extract the pin that we actually want to use as the enumerated value
class Controller(object):
def __init__(self):
self.vs = USB_VCP()
self.direction = 0
self.speed = 0
self.select_dir = 0
self.select_speed = 0
#self.vs.setinterrupt(-1)
def dir_menu(self):
print('please input your instructions')
print('1. set the direction ')
print('2. set the speed ')
print('3. send the instruction ')
def get_instrcution(self):
print('please input your instructions ')
print('1. set the direction ')
print('2. set the speed ')
print('3. send the instruction ')
while True:
if self.vs.any():
pyb.delay(2000)
self.instrcution = self.vs.readline()
if (self.select_dir == 1):
if (self.instrcution == b'1'):
self.select_dir = 0
print('forward')
self.dir_menu()
elif (self.instrcution == b'2'):
self.select_dir = 0
print('back')
self.dir_menu()
elif (self.instrcution == b'3'):
self.select_dir = 0
print('leftforward')
self.dir_menu()
elif (self.instrcution == b'4'):
self.select_dir = 0
print('leftback')
self.dir_menu()
elif (self.instrcution == b'5'):
self.select_dir = 0
print('rightforward')
self.dir_menu()
elif (self.instrcution == b'6'):
self.select_dir = 0
print('rightback')
self.dir_menu()
elif (self.instrcution == b'7'):
self.select_dir = 0
print('stop')
self.dir_menu()
elif (self.instrcution == b'8'):
self.select_dir = 0
print('MotorA-F')
self.dir_menu()
elif (self.instrcution == b'9'):
self.select_dir = 0
print('MotorA-R')
self.dir_menu()
elif (self.instrcution == b'10'):
self.select_dir = 0
print('MotorB-F')
self.dir_menu()
elif (self.instrcution == b'11'):
self.select_dir = 0
print('MotorB-R')
self.dir_menu()
elif (self.instrcution == b'12'):
self.select_dir = 0
print('RUN')
self.dir_menu()
else:
print('please set the diretion')
elif (self.select_speed == 1):
self.select_speed == 0
print('speed is ', int(self.instrcution))
print('please input your instructions')
print('1. set the direction ')
print('2. set the speed ')
print('3. send the instruction ')
elif (self.instrcution == b'1'):
self.select_dir = 1
print('please set the diretion ')
print('1. forward')
print('2. back')
print('3. leftforward')
print('4. leftback')
print('5. rightforward')
print('6. rightback')
print('7. stop')
print('8. MotorA-F')
print('9. MotorA-R')
print('10.MotorB-F')
print('11.MotorB-R')
print('12.RUN')
elif (self.instrcution == b'2'):
self.select_speed = 1
print('set the speed ')
elif (self.instrcution == b'3'):
print('send the instruction ')
else:
print('test', self.instrcution)
print('please input your instructions')
print('1. set the direction ')
print('2. set the speed ')
print('3. send the instruction ')
import time
from pyb import (USB_VCP, Servo)
SLEEP = 0.1
UP = -90
DOWN = 0
SPEED = 1000
servo = Servo(1)
servo.angle(30)
p = USB_VCP()
while True:
if p.any():
command = p.readline().strip()
if command == b'up':
servo.angle(UP, SPEED)
p.write(b'up-ok\n')
elif command == b'down':
servo.angle(DOWN, SPEED)
p.write(b'down-ok\n')
else:
p.write(command + b'\n')
p.write(b'err\n')
time.sleep(SLEEP)
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)
car.Left_move(1)
elif ret == 'x':
car.Right_move(3)
car.Left_move(3)
while True:
led1.toggle()
getter.add_string(wifi.receive_char())
getter.add_string(usb_uart.readline())
ret = getter.get_char()
if ret is not None:
print(ret)
car_control(ret)
pyb.delay(100)
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)
