rtc.stop()
def send_temp(timer_id):
global notif_enabled
global char_temp
if notif_enabled:
# measure chip temperature
temp = Temp.read()
temp = temp * 100
char_temp.write(bytearray([temp & 0xFF, temp >> 8]))
# start off with LED(1) off
LED(1).off()
# use RTC1 as RTC0 is used by bluetooth stack
# set up RTC callback every 5 second
rtc = RTC(1, period=5, mode=RTC.PERIODIC, callback=send_temp)
notif_enabled = False
uuid_env_sense = UUID("0x181A") # Environmental Sensing service
uuid_temp = UUID("0x2A6E") # Temperature characteristic
serv_env_sense = Service(uuid_env_sense)
temp_props = Characteristic.PROP_NOTIFY | Characteristic.PROP_READ
temp_attrs = Characteristic.ATTR_CCCD
char_temp = Characteristic(uuid_temp, props=temp_props, attrs=temp_attrs)
# STM32のプログラム
import pyb
from pyb import LED
from pyb import UART
uart = UART(6, 115200)
uart.init(115200, bits=8, parity=None, stop=1)
led = LED(1)
pull = 0
speed_1 = 0
speed_2 = 0
speed_3 = 0
speed_4 = 0
dir1 = pyb.Pin('PB3', pyb.Pin.OUT_PP)
dir2 = pyb.Pin('PB5', pyb.Pin.OUT_PP)
dir3 = pyb.Pin('PA8', pyb.Pin.OUT_PP)
dir4 = pyb.Pin('PA10', pyb.Pin.OUT_PP)
tim2 = pyb.Timer(2, freq=20000)
tim3 = pyb.Timer(3, freq=20000)
tim4 = pyb.Timer(4, freq=20000)
leg1 = tim3.channel(1, pyb.Timer.PWM, pin=pyb.Pin('PB4'))
leg2 = tim2.channel(3, pyb.Timer.PWM, pin=pyb.Pin('PB10'))
leg3 = tim3.channel(2, pyb.Timer.PWM, pin=pyb.Pin('PA7'))
leg4 = tim4.channel(1, pyb.Timer.PWM, pin=pyb.Pin('PB6'))
dir1.high()
dir2.high()
dir3.low()
''' 实验名称：按键 版本：v2.0 日期：2019.4 作者：01Studio ''' from pyb import LED, Switch sw = Switch() #定义按键对象名字为sw sw.callback(lambda: LED(4).toggle()) #当按键被按下时，LED(4)状态反转
# maxA, minB, maxB），LAB的值在图像左侧三个坐标图中选取。如果是灰度图，则只需
#设# 问吴老师 模板是什么？置（min, max）两个数字即可。
sensor.reset() # 初始化摄像头
sensor.set_pixformat(sensor.RGB565) # 格式为 RGB565.
sensor.set_framesize(sensor.QQVGA) # 使用 QQVGA 速度快一些
sensor.skip_frames(10) # 跳过10帧，使新设置生效
sensor.set_auto_whitebal(False)
# 问吴老师 模板是什么？
#关闭白平衡。白平衡是默认开启的，在颜色识别中，一定要关闭白平衡。
clock = time.clock() # 追踪帧率
turn_threshold = 15 # rotate threshold
turn = Pin('P0', Pin.OUT_PP)
turnDone = Pin('P1', Pin.OUT_PP)
red = LED(1)
green = LED(2)
blue = LED(3)
blue.on()
time.sleep(2)
blue.off()
arduino = UART(3, 19200)
while (True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # 从感光芯片获得一张图像
img = img.lens_corr(2.5, 1.0)
blobs = img.find_blobs([green_threshold],
'''
-------------------------------------------
Name: Strawbretty
-------------------------------------------
Using the OLED driver and IMU
-------------------------------------------
'''
import pyb
from pyb import LED, ADC, Pin
from oled_938 import OLED_938
from mpu6050 import MPU6050
# Create peripheral objects
b_led = LED(4)
imu = MPU6050(1, False)
# I2C connected to Y9, Y10, (I2C bus 2) and Y11 is reset low active
oled = OLED_938(pinout={
'sda': 'Y10',
'scl': 'Y9',
'res': 'Y8'
},
height=64,
external_vcc=False,
i2c_devid=61)
oled.poweron()
oled.init_display()
width = 128
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)
import pyb
from pyb import LED, DAC, ADC, Pin
from oled_938 import OLED_938
from mpu6050 import MPU6050
# Define various ports, pins and peripherals
a_out = DAC(1, bits=12)
pot = ADC(Pin('X11'))
b_LED = LED(4)
# Use OLED to say what it 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, 'Measure pitch and pitch_dot')
oled.draw_text(0,20, 'CCW: pitch (deg)')
oled.draw_text(0,30, 'CW: pitch_dot (deg/s)')
oled.display()
# IMU connected to X9 and X10
imu = MPU6050(1, False)
# Pitch angle calculation using complementary filter
def pitch_estimate(pitch, dt, alpha):
theta = imu.pitch()
pitch_dot = imu.get_gy()
pitch = alpha*(pitch + pitch_dot*dt) + (1-alpha)*theta
return (pitch, pitch_dot)
'''
Main program loop
#API/Guide
#https://docs.micropython.org/en/latest/pyboard/pyboard/quickref.html
## You need to setup the touch sensor using ADC here
## You need to setup the external LED using GPIO here
#Setup pins for motor
motorForward = Pin('X2', Pin.OUT_PP)
motorBackward = Pin('X3', Pin.OUT_PP)
## Setup PWM pin for the motor on pin X1
#Setup internal LED pins
internalLEDR = LED(1)
internalLEDY = LED(3)
internalLEDG = LED(2)
def turnOnMotor(sensorValue):
ch.pulse_width_percent(math.fabs(sensorValue / 2)) # control the speed based on the absolute value read from sensor
if(sensorValue < -2):
## Turn the external LED on
## Turn only the internal green LED on
## Make motor go backward
elif(sensorValue > 2):
## Turn the external LED on
## Turn only the internal red LED on
## Make motor go forward
else:
## Turn the external LED on
def __init__(self, mic, beam, deck):
self.mic = mic
self.beam = beam
self.deck = deck
self.leds = [LED(1), LED(2), LED(3), LED(4)]
#create GPS object
my_gps = MicropyGPS()
#set up transceiver to send data to ground station
x3_pin = Pin('X3', Pin.OUT_PP)
x3_pin.high()
#create transceiver object on UART4
hc12 = UART(4, 9600)
#create gps object on UART3
uart = UART(3, 9600)
#feedback-pyboard on and working
green = LED(2)
green.on()
#feedback-received start command
blue = LED(4)
#feedback-waiting for user to press button
orange = LED(3)
orange.on()
#boolean variable to manage main loop
finished = False
#########################
# Main Loop #
#########################
import sensor, time, image
from pyb import LED
# Reset sensor
sensor.reset()
# Sensor settings
sensor.set_contrast(3)
sensor.set_gainceiling(16)
# HQVGA and GRAYSCALE are the best for face tracking.
sensor.set_framesize(sensor.HQVGA)
sensor.set_pixformat(sensor.GRAYSCALE)
# LEDs
red_led = LED(1)
green_led = LED(2)
# Load Haar Cascade
# By default this will use all stages, lower satges is faster but less accurate.
face_cascade = image.HaarCascade("frontalface", stages=25)
print(face_cascade)
# FPS clock
clock = time.clock()
while (True):
clock.tick()
# Capture snapshot
img = sensor.snapshot()
import maf.eventloop as ev
import maf.defs as defs
import maf.mainloop_timer as mt
from pyb import LED
BLINK_INTERVALS = [83, 115, 237, 543]
leds = [LED(1), LED(2), LED(3), LED(4)]
blink_timers = [None] * len(leds)
def blink_callback(arg):
ndx = arg
leds[ndx].toggle()
mt.schedule(blink_timers[ndx], BLINK_INTERVALS[ndx])
for ndx in range(len(leds)):
blink_timers[ndx] = mt.new(blink_callback, ndx)
mt.schedule(blink_timers[ndx], BLINK_INTERVALS[ndx])
while True:
ev.dispatch()
# Untitled - By: range - Wed Apr 1 2020
import sensor, image, time
from pyb import LED, UART
EXPOSURE_TIME_SCALE = 0.06
#Sensor settings
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
led = LED(2)
led.on()
current_exposure_time_in_microseconds = sensor.get_exposure_us()
sensor.set_auto_exposure(False, \
exposure_us = int(current_exposure_time_in_microseconds * EXPOSURE_TIME_SCALE))
clock = time.clock()
uart = UART(3, 57600)
#main loop
while (True):
clock.tick()
img = sensor.snapshot()
for blob in img.find_blobs([(15, 40, -70, -8, -20, 60)],
pixels_threshold=200,
from time import sleep
import sys
#########################
# Prerequisites #
#########################
#set up transceiver to receive data to from cansat
x3_pin = Pin('X3', Pin.OUT_PP)
x3_pin.high()
#create transceiver object on UART4
hc12 = UART(4, 9600)
#feedback-pyboard on and working
green = LED(2)
green.on()
#feedback-waiting for user to press button
orange = LED(3)
orange.on()
#########################
# Sub Programs #
#########################
def start():
hc12.write('1')
orange.off()
# https://github.com/hmaerki/micropython/tree/master/canbus_example
from pyb import CAN
from pyb import LED
import micropython
ledBlue = LED(1)
IDs = (122, 123, 124, 125)
# 50kBaud
can = CAN(1, CAN.NORMAL, extframe=False, prescaler=40, sjw=1, bs1=14, bs2=6)
can.setfilter(0, CAN.LIST16, 0, IDs)
def my_handler_mainloop(reason):
(id, isRTR, filterMatchIndex, telegram) = can.recv(0)
print("received:", telegram)
if telegram == b'on':
ledBlue.on()
else:
ledBlue.off()
def my_canbus_interrupt(bus, reason):
# Don't handle code in the interrupt service routine.
# Schedule a task to be handled soon
if reason == 0:
# print('pending')
micropython.schedule(my_handler_mainloop, reason)
return
# romiserver.py for Micropython on Pyboard
#
# This module is a reads command on the UART of the Pyboard to drive a Romi chassis.
# The commands are sent on the serial link by an ESP32 which runs an HTTP and a
# WebSocket server to receive commands from the user.
#
# © Frédéric Boulanger <*****@*****.**>
# 2020-04-02 -- 2020-05-24
# This software is licensed under the Eclipse Public License 2.0
############
from pyb import UART, Pin, LED
from romipyb import RomiPlatform
# UART(1) is on TX=X9/RX=X10
uart = UART(1, baudrate=115200, timeout=1000)
led = LED(4) # the blue LED
romp = RomiPlatform()
lm = romp.leftmotor
rm = romp.rightmotor
def sendStatus():
status = "UPDATE %d %d %f %d %f\r\n" % \
(led.intensity(),
lm.count_a,
lm.get_rpms(),
rm.count_a,
rm.get_rpms()
)
uart.write(status.encode())
# ||| EXPOSURE |||
curr_exposure = sensor.get_exposure_us()
sensor.set_auto_exposure(False, exposure_us = int(curr_exposure))
# ||| WHITE BAL |||
sensor.set_auto_whitebal(False,
rgb_gain_db=curr_wbal)
# ||| SET VALUES & WINDOWING |||
sensor.set_windowing(vwin_val)
sensor.set_saturation(3)
sensor.set_brightness(-3)
sensor.set_contrast(3)
# ||| INDICATOR LED |||
LED(1).on()
time.sleep(100)
LED(1).off()
# ||| SCANS FOR BIGGEST BLOB |||
def BiggestBlob(bBlob):
if not bBlob:
return None
maxBlob = bBlob[0]
for blob in bBlob:
if blob.area() > maxBlob.area():
maxBlob = blob
return maxBlob
# ||| MAIN LOOP |||
while(True):
def has_pressed(self):
""" Check if the button as been pressed somehow """
if self.counter > 0:
self.counter = 0 # reset the counter
return True
return False
# CTRL-C / Copy will be wired to X9
pin_S11 = Pin("S11", Pin.IN, Pin.PULL_UP)
btn_copy = Btn(pin_S11)
# CTRL-C / Paste will be wired to X10
pin_S13 = Pin("S13", Pin.IN, Pin.PULL_UP)
btn_paste = Btn(pin_S13)
# Switch RED LED on = Keyboard is running
LED(1).on()
try:
# Reading the keys
while True:
btn_copy.update()
if btn_copy.has_pressed:
sendchr('c', hid, kmap, modifiers=[CTRL])
btn_paste.update()
if btn_paste.has_pressed:
sendchr('v', hid, kmap, modifiers=[CTRL])
except:
LED(1).off() # Switch of Keyboard is no more running
LED(4).on() # Light blue LED in case of trouble
raise #forward exception
sensor.__write_reg(0x3025, 0x00)
sensor.__write_reg(0x3026, 0x00)
sensor.__write_reg(0x3027, 0x00)
sensor.__write_reg(0x3028, 0x00)
sensor.__write_reg(0x3029, 0x7f)
sensor.__write_reg(0x3000, 0x00)
while (True):
result = sensor.__read_reg(0x3029)
print('FW_STATUS: %X' % result)
if result != 0x7F:
break
sleep(500)
blue_led = LED(1)
KEY = Pin('C13', Pin.IN, Pin.PULL_DOWN)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
if sensor.get_id() != sensor.OV5640:
print('Only run for ov5640')
sys.exit(0)
print('ov5640 AF Firmware Init ...')
OV5640AF_Init()
clock = time.clock()
from pyb import CAN
from pyb import LED
red_led = LED(1)
can = CAN(2, CAN.LOOPBACK)
#can.setfilter(0, CAN.LIST16, 0, (123, 124, 125, 126)) # set a filter to receive messages with id=123, 124, 125 and 126
can.send('message!', 123) # send a message with id 123
value = can.recv(0) # receive message on FIFO 0
if value[0] == 123:
red_led.LED.on()
print(value[3])
'''
-------------------------------------------------------
Name: main
Creator: Higor Alves
-------------------------------------------------------
'''
import pyb
from pyb import Pin, LED
# Configure X2:4, X7 as setting input pin - pull_up to receive switch settings
s0=Pin('Y3',pyb.Pin.IN,pyb.Pin.PULL_UP)
s1=Pin('X6',pyb.Pin.IN,pyb.Pin.PULL_UP)
r_LED = LED(1)
g_LED = LED(2)
y_LED = LED(3)
b_LED = LED(4)
'''
Define various test functions
'''
def read_sw():
value = 3 - (s0.value() + 2*s1.value())
if (not s0.value()):
y_LED.on()
if (not s1.value()):
g_LED.on()
return value
if read_sw() == 0:
print('Running Milestone 1: BLE Control')
###if False then lane is White, else Yellow ### Imports import sensor, pyb, math, time, mjpeg from pyb import LED, Pin, Timer ### constants steering_direction = -1 # use this to revers the steering if your car goes in the wrong direction steering_gain = 1.7 # calibration for your car's steering sensitivity steering_center = 53 # set to your car servo's center point kp = 0.8 # P term of the PID ki = 0.0 # I term of the PID kd = 0.4 # D term of the PID set_angle = 90 # this is the desired steering angle (straight ahead) radians_degrees = 57.3 # constant to convert from radians to degrees blue_led = LED(3) ### parameters Yellow = True MAG_THRESHOLD = 3 #magnitude of line in hough transform THD_WHITE = (240, 255) #threshold for both yellow and white THD_YELLOW = (180, 255) THD = THD_YELLOW if Yellow else THD_WHITE old_error = 0 measured_angle = 0 p_term = 0 i_term = 0 d_term = 0 old_time = pyb.millis() record_time = 50000 #in ms cruise_speed = 30 # we dont change it
thresholds = [(30, 100, 15, 127, 15, 127), # generic_red_thresholds
(0, 83, -128, 15, -128, 127), # generic_green_thresholds
(0, 100, -128, -10, -128, 51)] # generic_blue_thresholds
# You may pass up to 16 thresholds above. However, it's not really possible to segment any
# scene with 16 thresholds before color thresholds start to overlap heavily.
cruise_speed = 0 # how fast should the car drive, range from 1000 to 2000
steering_direction = -1 # use this to revers the steering if your car goes in the wrong direction
steering_gain = 1.1 # calibration for your car's steering sensitivity
steering_center = 80 # set to your car servo's center point
kp = 0.4 # P term of the PID
ki = 0.0 # I term of the PID
kd = 0.3 # D term of the PID
red_led = LED(1)
green_led = LED(2)
blue_led = LED(3)
ir_led = LED(4)
old_error = 0
measured_angle = 0
set_angle = 90 # this is the desired steering angle (straight ahead)
p_term = 0
i_term = 0
d_term = 0
old_time = pyb.millis()
def led_control(x):
if (x&1)==0: red_led.off()
elif (x&1)==1: red_led.on()
buf = ESP_UART.read().decode().replace('\r','').replace('\n','').replace(' ','')
print(buf)
if buf.find('busyp') > -1 or buf.find('ERROR') > -1:
# AT指令执行失败
# 结束程序排查原因
break
elif buf.find('ATOK') > -1:
# 说明AT指令执行成功
#if 'ATOK' in buf:
# 成功进入AT指令模式
# 设置WIFI模式
sendToUart(CWMODE_CUR)
elif buf.find(CWMODE_CUR) > -1:
# 设置sta模式成功，连接AP
sendToUart(CWJAP_CUR)
LED(1).on()
elif buf.find('WIFIGOTIP') > -1:
# 连接AP成功
# 连接TCP Server成功，发送数据
pyb.delay(150)
sendToUart(CIPSTART)
LED(2).on()
elif buf.find(CIPSTART) > -1:
# 连接TCP Server成功，发送数据
CIPSEND = CIPSEND % str(len(msg))
sendToUart(CIPSEND)
LED(3).on()
elif buf.find('>') > -1:
# 发送数据
sendToUart(msg)
LED(4).on()
oled = OLED_938(pinout={
'sda': 'Y10',
'scl': 'Y9',
'res': 'Y8'
},
height=64,
external_vcc=False,
i2c_devid=61)
oled.poweron()
oled.init_display()
# define ports for microphone, LEDs and trigger out (X5)
mic = ADC(Pin('Y11'))
MIC_OFFSET = 1523 # 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.on()
pyb.delay(20)
b_LED.off()
def energy(buf): # Compute energy of signal in buffer
sum = 0
# Untitled - By: Deer - 周三 11月 29 2017
import sensor
import time
from pyb import LED
from pyb import UART
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE) #设定采集图像回灰度
sensor.set_framesize(sensor.QVGA) #设定画面大小
sensor.skip_frames(10)
grayscale_thres = (110, 255) #设定二值化阈值
thing_thres = (0, 70) #设定查找颜色范围
red_led = LED(1) #端口控制 LED亮500ms
red_led.on()
time.sleep(500)
red_led.off()
uart = UART(3, 9600, timeout_char=1000) #串口控制，第一个参数为默认，第二个是波特率，第三个是超时设定
def find_max(blobs): #函数查找最大的色块
max_size = 0
for blob in blobs:
if blob.pixels() > max_size:
max_blob = blob
max_size = blob.pixels()
return max_blob
def __init__(self, led_num, time_on, event):
super().__init__(ident=led_num) # Use the LED num as the ident.
self.led = LED(self.ident) # The LED to use.
self.timer = Timer(timer0 + self.ident) # The timer to use.
self.timeout = time_on # Time to wait before firing event.
self.event = event # Event to fire at end of time_on.
''' 实验名称：点亮LED(4)蓝灯 版本：v1.0 日期：2020.12 作者：01Studio ''' from pyb import LED LED(4).on()
from pyb import UART ## One time setup sensor.reset() sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QVGA) sensor.skip_frames(time=2000) clock = time.clock() uart = UART(3, 115200, timeout_char=1000) img = sensor.snapshot() SIZE = (img.width(), img.height()) CENTER = (img.width() / 2, img.height() / 2) AREA = img.size() green_led = LED(1) blue_led = LED(2) #broken1_led = LED(3) #broken2_led = LED(4) appleRoi = () #apple_th = (30, 75, 50, 70 ,0, 40) apple_th = (30, 75, 40, 70, 20, 60) #apple_th = (60, 90, 20, 60, -20, 10) #maxRatio = 1.5 #minDensity = 0.4 #maxPixelCnt = deltaXPixPerCycle = 2 deltaYPixPerCycle = 2
# Untitled - By: Gehaha - 周四 11月 29 2018 from pyb import LED led = LED(3) led.toggle() led.on() led.off()
