def car_spd_mode_apiece(left_speed=__DEFAULT_SPEED,
right_speed=__DEFAULT_SPEED,
run_time=0,
accel_time=1,
decel_time=1,
device_index=1):
if not isinstance(left_speed, (int, float)):
return
if not isinstance(right_speed, (int, float)):
return
if not isinstance(run_time, (int)):
return
if not isinstance(accel_time, (int)):
return
if not isinstance(decel_time, (int)):
return
left_speed = num_range_scale(left_speed, -__MAX_SPEED, __MAX_SPEED)
right_speed = num_range_scale(right_speed, -__MAX_SPEED, __MAX_SPEED)
run_time = num_range_scale(run_time, 0, __MAX_RUN_TIME)
accel_time = num_range_scale(accel_time, 0, __MAX_ACCEL_TIME)
decel_time = num_range_scale(decel_time, 0, __MAX_DECEL_TIME)
neurons_request(
"m_starter_shield", "car_spd_mode_apiece",
(left_speed, right_speed, run_time, accel_time, decel_time),
device_index)
time.sleep(run_time * __MS_TO_SECOND_FACTOR)
def straight(distance=50, speed=__DEFAULT_SPEED):
if not isinstance(distance, (int, float)):
return
if not isinstance(speed, (int, float)):
return
distance = num_range_scale(distance, -__MAX_DISTANCE, __MAX_DISTANCE)
wheel_angle = distance * __DISTANCE_TO_ANGLE_FOCTOR
# distance = int(distance * __CM_TO_MM_FACTOR)
speed = num_range_scale(speed, -__MAX_SPEED, __MAX_SPEED)
speed = math.fabs(speed)
speed = speed * __SPEED_RPM_TO_DPS_FACTOR
if math.fabs(wheel_angle) <= (speed * speed / __DEFAULT_ACCELERATION):
accel_time = math.sqrt(math.fabs(wheel_angle / __DEFAULT_ACCELERATION))
run_time = 2 * accel_time
else:
accel_time = speed / __DEFAULT_ACCELERATION
run_time = math.fabs(wheel_angle) / speed + accel_time
wheel_angle = int(wheel_angle)
# run_time = int(run_time * __SECOND_TO_MS_FACTOR)
# accel_time = int(accel_time * __SECOND_TO_MS_FACTOR)
run_time = int(round(run_time * __SECOND_TO_MS_FACTOR / 100) * 100)
accel_time = int(round(accel_time * __SECOND_TO_MS_FACTOR / 100) * 100)
if accel_time <= 100:
accel_time = 100
if run_time <= 2 * accel_time:
run_time = 2 * accel_time + 100
# cyberpi.console.println("angle=%s"%(wheel_angle))
# cyberpi.console.println("speed=%s"%(speed))
# cyberpi.console.println("r_t=%s"%(run_time))
# cyberpi.console.println("a_t=%s"%(accel_time))
starter_shield.car_pos_mode_straight(wheel_angle, run_time, accel_time)
def led_strip_set_single(strip_index,
led_index,
red_value,
green_value,
blue_value,
device_index=1):
if not isinstance(strip_index, (int, float)):
return
if not isinstance(led_index, (int, float)):
return
if not isinstance(red_value, (int, float)):
return
if not isinstance(green_value, (int, float)):
return
if not isinstance(blue_value, (int, float)):
return
if not isinstance(device_index, (int, float)):
return
strip_index = num_range_scale(strip_index, 0, 127)
led_index = num_range_scale(led_index, 0, 127)
red_value = num_range_scale(red_value, 0, 255)
green_value = num_range_scale(green_value, 0, 255)
blue_value = num_range_scale(blue_value, 0, 255)
neurons_request(
"m_standard_shield", "led_strip_set_single",
(strip_index, led_index, red_value, green_value, blue_value),
device_index)
def play_note(note, beat=None, index=1):
if not isinstance(index, (int, float)):
return
if isinstance(note, (int, float)):
note = num_range_scale(note, 48, 72)
freq = MIDI_NOTE_NUM0 * math.pow(NOTE_FREQUENCE_RATIO, note)
elif isinstance(note, str):
if note in node_table:
freq = node_table[note]
else:
return
neurons_request("m_speaker", "stop", (), index)
if beat == None:
neurons_request("m_speaker", "play_frequency", freq, index)
elif isinstance(beat, (int, float)):
beat = num_range_scale(beat, 0)
if beat <= 0:
return
neurons_request("m_speaker", "play_frequency", freq, index)
time.sleep(beat)
neurons_request("m_speaker", "stop", (), index)
def set_led_rgb(r, g, b, index=1): #设置RGB灯
if (not isinstance(r, (int, float))) or (not isinstance(
g,
(int, float))) or (not isinstance(b, (int, float))) or (not isinstance(
index, (int, float))) or (index <= 0):
return
r = num_range_scale(r, 0, 255)
g = num_range_scale(g, 0, 255)
b = num_range_scale(b, 0, 255)
neurons_request("m_smart_camera", "set_led_rgb", (r, g, b), index)
def set_both_led_bri(bri_1,
bri_2=0,
bri_3=0,
bri_4=0,
bri_5=0,
bri_6=0,
bri_7=0,
bri_8=0,
index=1):
if not isinstance(index, (int, float)):
return
if isinstance(bri_1, list):
if len(bri_1) < 8:
bri_1.extend([0] * (8 - len(bri_1)))
elif len(bri_1) > 8:
bri_1 = bri_1[0:8]
for i in range(8):
bri_1[i] = num_range_scale(bri_1[i], 0, 100)
neurons_request("m_led_ultrasonic_sensor", "set_led_bri", bri_1, index)
else:
bri_1 = num_range_scale(bri_1, 0, 100)
bri_2 = num_range_scale(bri_2, 0, 100)
bri_3 = num_range_scale(bri_3, 0, 100)
bri_4 = num_range_scale(bri_4, 0, 100)
bri_5 = num_range_scale(bri_5, 0, 100)
bri_6 = num_range_scale(bri_6, 0, 100)
bri_7 = num_range_scale(bri_7, 0, 100)
bri_8 = num_range_scale(bri_8, 0, 100)
neurons_request(
"m_led_ultrasonic_sensor", "set_led_bri",
(bri_1, bri_2, bri_3, bri_4, bri_5, bri_6, bri_7, bri_8), index)
def encoder_motor_lock_power(motor_index=1, lock_power=30, device_index=1):
if not isinstance(motor_index, (int, float)):
return
if not isinstance(device_index, (int, float)):
return
if not isinstance(lock_power, (int, float)):
return
motor_index = num_range_scale(motor_index, 0, 127)
lock_power = num_range_scale(lock_power, 0, 127)
neurons_request("m_starter_shield", "encoder_motor_lock_power",
(motor_index, lock_power), device_index)
def encoder_motor_lock(motor_index=1, lock_state=0, device_index=1):
if not isinstance(motor_index, (int, float)):
return
if not isinstance(device_index, (int, float)):
return
if not isinstance(lock_state, (int, float)):
return
motor_index = num_range_scale(motor_index, 0, 127)
lock_state = num_range_scale(lock_state, 0, 1)
neurons_request("m_starter_shield", "encoder_motor_lock",
(motor_index, lock_state), device_index)
def encoder_motor_set_speed(motor_index, speed, device_index=1):
if not isinstance(motor_index, (int, float)):
return
if not isinstance(speed, (int, float)):
return
if not isinstance(device_index, (int, float)):
return
motor_index = num_range_scale(motor_index, 0, 127)
speed = num_range_scale(speed, -__MAX_SPEED, __MAX_SPEED)
neurons_request("m_starter_shield", "encoder_motor_set_speed",
(motor_index, speed), device_index)
def servo_set_angle_both(angle_1, angle_2, device_index=1):
if not isinstance(device_index, (int, float)):
return
if not isinstance(angle_1, (int, float)):
return
if not isinstance(angle_2, (int, float)):
return
angle_1 = num_range_scale(angle_1, 0, 180)
angle_2 = num_range_scale(angle_2, 0, 180)
neurons_request("m_standard_shield", "servo_set_angle_both",
(angle_1, angle_2), device_index)
def servo_set_pulse_width(servo_index, pulse_width, device_index=1):
if not isinstance(servo_index, (int, float)):
return
if not isinstance(device_index, (int, float)):
return
if not isinstance(pulse_width, (int, float)):
return
servo_index = num_range_scale(servo_index, 0, 127)
pulse_width = num_range_scale(pulse_width, 0, 16383)
neurons_request("m_standard_shield", "servo_set_pulse_width",
(servo_index, pulse_width), device_index)
def dc_motor_set_power_both(power_1, power_2, device_index=1):
if not isinstance(power_1, (int, float)):
return
if not isinstance(power_2, (int, float)):
return
if not isinstance(device_index, (int, float)):
return
power_1 = num_range_scale(power_1, -100, 100)
power_2 = num_range_scale(power_2, -100, 100)
neurons_request("m_standard_shield", "dc_motor_set_power_both",
(power_1, power_2), device_index)
def led_strip_change_brightness(strip_index=1, brightness=30, device_index=1):
if not isinstance(strip_index, (int, float)):
return
if not isinstance(device_index, (int, float)):
return
if not isinstance(brightness, (int, float)):
return
strip_index = num_range_scale(strip_index, 0, 127)
brightness = num_range_scale(brightness, -100, 100)
neurons_request("m_standard_shield", "led_strip_change_brightness",
(strip_index, brightness), device_index)
def multifunction_digital_write(port, value, device_index=1):
if not isinstance(port, (int, float)):
return
if not isinstance(device_index, (int, float)):
return
if not isinstance(value, (int, float)):
return
port = num_range_scale(port, 0, 127)
value = num_range_scale(value, 0, 1)
neurons_request("m_standard_shield", "multifunction_digital_write",
(port, value), device_index)
def servo_set_angle(servo_index, angle, device_index=1):
if not isinstance(servo_index, (int, float)):
return
if not isinstance(device_index, (int, float)):
return
if not isinstance(angle, (int, float)):
return
servo_index = num_range_scale(servo_index, 0, 127)
angle = num_range_scale(angle, 0, 180)
neurons_request("m_standard_shield", "servo_set_angle",
(servo_index, angle), device_index)
def dc_motor_set_power(motor_index, power, device_index=1):
if not isinstance(motor_index, (int, float)):
return
if not isinstance(power, (int, float)):
return
if not isinstance(device_index, (int, float)):
return
motor_index = num_range_scale(motor_index, 0, 127)
power = num_range_scale(power, -100, 100)
neurons_request("m_standard_shield", "dc_motor_set_power",
(motor_index, power), device_index)
def move_to_with_torque(position, speed, strength, index=1):
if (not isinstance(position, (int))) or (not isinstance(
speed,
(int, ))) or (not isinstance(strength, (int, ))) or (not isinstance(
index, (int))) or (index <= 0):
return
if index == "all":
index = 0xff
speed = num_range_scale(speed, 1, 50)
strength = num_range_scale(strength, 1, 255)
neurons_request("m_smartservo", "move_to_with_torque",
[position, speed, strength], index)
def multifunction_pwm_set(port, duty, frequency, device_index=1):
if not isinstance(port, (int, float)):
return
if not isinstance(device_index, (int, float)):
return
if not isinstance(duty, (int, float)):
return
if not isinstance(frequency, (int, float)):
return
port = num_range_scale(port, 0, 127)
duty = num_range_scale(duty, 0, 100)
frequency = num_range_scale(frequency, 0, 2000)
neurons_request("m_standard_shield", "multifunction_pwm_set",
(port, duty, frequency), device_index)
def set_fills_learn_mode(fills_id, t, index=1): #设置学习色块模式
if (not isinstance(fills_id, (int, float))) or (not isinstance(
t,
(int, float))) or (not isinstance(index,
(int, float))) or (index <= 0):
return
# real index is 0 ~ 7
fills_id = num_range_scale(fills_id, 1, 8)
fills_id -= 1
t = num_range_scale(t, 0, None)
neurons_request("m_smart_camera", "set_fills_learn_mode", (fills_id, t),
index)
def set_blue(led_index, value, index=1):
if not isinstance(index, (int, float)):
return
if not (isinstance(led_index, (int, float)) or (led_index == "all")):
return
if not isinstance(value, (int, float)):
return
if led_index == "all":
led_index = 0
else:
led_index = num_range_scale(led_index, 1, 127)
value = num_range_scale(value, 0, 255)
neurons_request("m_rgb_led_ring", "set_blue", (led_index, value), index)
def set_report_mode(mode, timestamp, index=1):
timestamp = num_range_scale(timestamp, 10, None)
if mode == 0x00 or mode == 0x01 or mode == 0x02:
neurons_request("m_soil_moisture", "set_report_mode",
(mode, timestamp), index)
else:
pass
def get_fills_diff_speed(sign, tar_x, tar_y, index=1):
global __kp, __mode
if (not isinstance(tar_x, (int, float))) or (not isinstance(
tar_y,
(int, float))) or (not isinstance(index,
(int, float))) or (index <= 0):
return 0
index = int(index)
if __mode[index - 1] != "color":
return 0
data = get_fills_all_data(sign, index)
if data == 0:
return 0
cur_x = data[1]
cur_y = data[2]
if cur_x == 0 or cur_y == 0:
return 0
error = 0
if tar_x == -1:
error = (tar_y - cur_y) * 2
elif tar_y == -1:
error = (cur_x - tar_x) * 1
else:
return 0
error = num_range_scale(error, -100, 100)
error = error * __kp[index - 1]
return error
def turn(angle=360, speed=__DEFAULT_SPEED):
if not isinstance(angle, (int, float)):
return
if not isinstance(speed, (int, float)):
return
wheel_angle = angle * __ANGLE_CAR_TO_WHEEL_FACTOR
speed = num_range_scale(speed, -__MAX_SPEED, __MAX_SPEED)
speed = math.fabs(speed)
speed = speed * __SPEED_RPM_TO_DPS_FACTOR
if math.fabs(wheel_angle) <= (speed * speed / __DEFAULT_ACCELERATION):
accel_time = math.sqrt(math.fabs(wheel_angle / __DEFAULT_ACCELERATION))
run_time = 2 * accel_time
else:
accel_time = speed / __DEFAULT_ACCELERATION
run_time = math.fabs(wheel_angle) / speed + accel_time
wheel_angle = int(wheel_angle)
# run_time = int(run_time * __SECOND_TO_MS_FACTOR)
# accel_time = int(accel_time * __SECOND_TO_MS_FACTOR)
run_time = int(round(run_time * __SECOND_TO_MS_FACTOR / 100) * 100)
accel_time = int(round(accel_time * __SECOND_TO_MS_FACTOR / 100) * 100)
if accel_time <= 100:
accel_time = 100
if run_time <= 2 * accel_time:
run_time = 2 * accel_time + 100
# cyberpi.console.println("angle=%s"%(wheel_angle))
# cyberpi.console.println("speed=%s"%(speed))
# cyberpi.console.println("r_t=%s"%(run_time))
# cyberpi.console.println("a_t=%s"%(accel_time))
starter_shield.car_pos_mode_wheel_clockwise(wheel_angle, run_time,
accel_time)
def set_camera_sensitometry(level, index=1): #设置摄像头曝光度
if (not isinstance(level, (int, float))) or (not isinstance(
index, (int, float))) or (index <= 0):
return
level = num_range_scale(level, 0, 255)
neurons_request("m_smart_camera", "set_camera_sensitometry", (level),
index)
def set_default_turning_angle(angle, index=1): #设置默认的转向角度（不开放）
if (not isinstance(angle, (int, float))) or (not isinstance(
index, (int, float))) or (index <= 0):
return
angle = num_range_scale(angle, -180, 180)
neurons_request("m_smart_camera", "set_default_turning_angle", (angle),
index)
def get_follow_vector_diff_speed(index=1):
global __mode
if (not isinstance(index, (int, float))) or (index <= 0):
return 0
index = int(index)
if __mode[index - 1] != "line":
return 0
data = get_line_all_data(index)
if data == 0:
return 0
cur_x0 = data[0]
cur_y0 = data[1]
cur_x1 = data[2]
cur_y1 = data[3]
# print("end_x start_x:", cur_x0, cur_x1)
if cur_x0 == 0 or cur_x1 == 0:
return 0
error = (cur_x0 - CAMERA_FRAME_WIDTH / 2) * 0.7 + (
cur_x1 - CAMERA_FRAME_WIDTH / 2) * 0.3
error = 3 * error
error = num_range_scale(error, -100, 100)
error = error * __kp[index - 1]
return error
def set_all(red_value, green_value, blue_value, index=1):
if not isinstance(index, (int, float)):
return
if not isinstance(red_value, (int, float)):
return
if not isinstance(green_value, (int, float)):
return
if not isinstance(blue_value, (int, float)):
return
red_value = num_range_scale(red_value, 0, 255)
green_value = num_range_scale(green_value, 0, 255)
blue_value = num_range_scale(blue_value, 0, 255)
neurons_request("m_rgb_led_ring", "set_rgb",
(0x00, red_value, green_value, blue_value), index)
def __set_r_g_b(col_id, value, index):
global __led_value
value = num_range_scale(value, 0, 255)
__led_value[index][col_id] = value
neurons_request("m_rgb", r_g_b_list[col_id], value, index)
def set_report_mode(mode, timestamp, index=1):
timestamp = num_range_scale(timestamp, 10, None)
if mode == 0x00 or mode == 0x01 or mode == 0x02:
neurons_request("m_ultrasonic_sensor", "set_report_mode",
(mode, timestamp), index)
else:
pass
def get_barcode_diff_speed(label, tar_x, tar_y, index=1):
global __kp, __mode
if (not isinstance(tar_x, (int, float))) or (not isinstance(
tar_y,
(int, float))) or (not isinstance(index,
(int, float))) or (index <= 0):
return 0
index = int(index)
if __mode[index - 1] != "line":
return 0
data = get_barcode_all_data(label, index)
if data == 0:
return 0
cur_x = data[1]
cur_y = data[2]
# print("cur x y:", cur_x, cur_y)
if cur_x == 0 or cur_y == 0:
return 0
error = 0
if tar_x == -1:
error = (tar_y - cur_y) * 3
elif tar_y == -1:
error = (cur_x - tar_x) * 3
else:
return 0
error = num_range_scale(error, -100, 100)
error = error * __kp[index - 1]
return error