示例#1
0
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)
示例#2
0
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
示例#3
0
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 ')
示例#4
0
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)
示例#5
0
文件: main.py 项目: jingege315/res
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)
示例#6
0
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)