pyb.delay(100)
tic = pyb.millis() # mark time now in msec
# read the characters into a list, intialise stuff
movelist = readlist('g7_choreo2.txt')
counter = 0
# print(movelist) # for debugging
# real-time program loop
try:
while True: # Main program loop
if mic.buffer_full(
): # semaphore signal from ISR - set if buffer is full
b_LED.off() # flash off
# Get instantaneous energy
E = mic.inst_energy(
) # get the instantaneous energy from the microphone
# compute moving sum of last 50 energy epochs
sum_energy = sum_energy - e_buf[e_ptr] + E
e_buf[e_ptr] = E # over-write earliest energy with most recent
e_ptr = (e_ptr +
1) % M # increment e_ptr with wraparound - 0 to M-1
# Compute ratio of instantaneous energy/average energy
c = E * M / sum_energy
# Look for a beat
if (pyb.millis() - tic >
500): # if more than 500ms since last beat
if (c > BEAT_THRESHOLD) or (pyb.millis() - tic > 600):
# look for a beat, or if not found, timeout
tic = pyb.millis() # reset tic
u = pidc.get_pwm(pitch, pitch_dot)
if u > 0:
motor.A_forward( (abs(u)+motor_offset) * mWeight.report('A') )
motor.B_forward( (abs(u)+motor_offset) * mWeight.report('B') )
elif u < 0:
motor.A_back( (abs(u)+motor_offset) * mWeight.report('A') )
motor.B_back( (abs(u)+motor_offset) * mWeight.report('B') )
#else:
#motor.A_stop()
#motor.B_stop()
if mic.buffer_full(): # semaphore signal from ISR - set if buffer is full
b_LED.off() # flash off
# Get instantaneous energy
E = mic.inst_energy()
# 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
# Compute ratio of instantaneous energy/average energy
c = E * M / sum_energy
# Look for a beat
if (pyb.millis() - tic2 > 500): # if more than 500ms since last beat
if (c > BEAT_THRESHOLD) or (pyb.millis()-tic1 > 600): # look for a beat
# look for a beat, or if not found, timeout
tic2 = pyb.millis() # reset tic2
b_LED.on()# beat found, flash blue LED ON REPLACE THIS WITH THE MOVES
# execute move function (if=='c' etc)
backward(abs(drive_signal * offset) + 5, move_left, move_right)
tic = pyb.micros()
if debug:
oled.clear()
oled.draw_text(0, 10, "Drive Signal: {}".format(drive_signal))
oled.draw_text(0, 40, "Robot pitch: {}".format(current_pitch))
oled.display()
if micro.buffer_full: # semaphore signal from ISR - set if buffer is full
b_LED.off()
# Calculate instantaneous energy
E = micro.inst_energy()
# 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
# Compute ratio of instantaneous energy/average energy
c = E * M / sum_energy
if (pyb.millis() - tic_detect >
500): # if more than 500ms since last beat
print(c)
if (c > BEAT_THRESHOLD): # look for a beat
print('I made it')