'''

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Name: Milestone 3 - Dancing to Beat

Creator: Group 8

Date: 19 Mar 2018

Revision: 1.0

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This program does the following:

1.

'''

import pyb

from pyb import Pin, Timer, ADC, DAC, LED

from array import array # need this for memory allocation to buffers

import time

from oled_938 import OLED_938 # Use OLED display driver

from motor import DRIVE

# The following two lines are needed by micropython

# ... must include if you use interrupt in your program

import micropython

micropython.alloc_emergency_exception_buf(100)

# Use OLED to say what segway is doing

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 2: Beat LED')

oled.draw_text(0, 20, 'Press USR button')

oled.display()

print('Performing Milestone 2')

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')

oled.draw_text(0, 30, 'Button pressed - Running')

oled.display()

# define ports for microphone, LEDs and trigger out (X5)

mic = ADC(Pin('Y11'))

MIC_OFFSET = 1527 # ADC reading of microphone for silence

dac = pyb.DAC(1, bits=12) # Output voltage on X5 (BNC) for debugging

b_LED = LED(4) # flash for beats on blue LED

N = 160 # size of sample buffer s_buf[]

s_buf = array('H', 0 for i in range(N)) # reserve buffer memory

ptr = 0 # sample buffer index pointer

buffer_full = False # semaphore - ISR communicate with main program

def flash(): # routine to flash blue LED when beat detected

b_LED.off()

motor = DRIVE()

def StepText(filename):

char_list = [ch for ch in open(filename).read() if ch not in ['\r', '\n']]

return char_list

def StepFunctions(steps, i, v):

motor.stop()

def energy(buf): # Compute energy of signal in buffer

return sum

# ---- The following section handles interrupts for sampling data -----

# ---- The following section handles interrupts for sampling data -----

# Interrupt service routine to fill sample buffer s_buf

def isr_sampling(dummy): # timer interrupt at 8kHz

buffer_full = True # set the flag (semaphore) for buffer full

# Create timer interrupt - one every 1/8000 sec or 125 usec

pyb.disable_irq() # disable interrupt while configuring timer

sample_timer = pyb.Timer(7, freq=8000) # set timer 7 for 8kHz

sample_timer.callback(isr_sampling) # specify interrupt service routine

pyb.enable_irq() # enable interrupt again

# -------- End of interrupt section ----------------

# Define constants for main program loop - shown in UPPERCASE

M = 50 # number of instantaneous energy epochs to sum

BEAT_THRESHOLD = 1 # threshold for c to indicate a beat (original 2.0)

# SILENCE_THRESHOLD = 1.3 # threshold for c to indicate silence

# initialise variables for main program loop

e_ptr = 0 # pointer to energy buffer

e_buf = array('L', 0 for i in range(M)) # reserve storage for energy buffer

sum_energy = 0 # total energy in last 50 epochs

pyb.delay(100)

tic = pyb.millis() # mark time now in msec

'''Reading text file with choreographed dance moves'''

DanceMoveList = StepText('StripTheWillow.txt') #debug

counter = 0

try:

while True: # Main program loop

if buffer_full: # semaphore signal from ISR - set if buffer is full

# Calculate instantaneous energy

E = energy(s_buf)

# compute moving sum of last 50 energy epochs

sum_energy = sum_energy - e_buf[e_ptr] + E

e_buf[e_ptr] = E # over-write earlest energy with most recent

e_ptr = (e_ptr + 1) % M # increment e_ptr with wraparound - 0 to M-1

if sum_energy > 50000000:

# Compute ratio of instantaneous energy/average energy

c = E*M/sum_energy

if (pyb.millis()-tic > 380): # if more than 500ms since last beat

if (c>BEAT_THRESHOLD): # look for a beat

flash() # beat found, flash blue LED

if counter >= len(DanceMoveList):

counter = 0

else:

StepFunctions(DanceMoveList, counter, 25) # from StepFunctions(steps, i, v), 20 = v = PWM motor speed

counter += 1

tic = pyb.millis() # reset tic

buffer_full = False # reset status flag

finally:

motor.stop()