""" MixGo CAR -Onboard resources MicroPython library for the MixGo CAR (ESP32C3) ======================================================= @dahanzimin From the Mixly Team """ import time,gc,ms32006 from machine import * '''RTC''' rtc_clock=RTC() '''i2c-onboard''' onboard_i2c=SoftI2C(scl = Pin(7), sda = Pin(6), freq = 400000) '''4RGB_WS2812''' from ws2812 import NeoPixel onboard_rgb = NeoPixel(Pin(8), 4, ORDER=(0, 1, 2, 3)) '''1Buzzer-Music''' from music import MIDI onboard_music =MIDI(5) '''1KEY_Button''' class Button: def __init__(self, pin): self.pin = Pin(pin, Pin.IN) self.flag = True def get_presses(self, delay = 1): last_time, last_state, presses = time.time(), 0, 0 while time.time() < last_time + delay: time.sleep_ms(50) if last_state == 0 and self.pin.value() == 1: last_state = 1 if last_state == 1 and self.pin.value() == 0: last_state, presses = 0, presses + 1 return presses def is_pressed(self): return not self.pin.value() def was_pressed(self, flag = 0): if(self.pin.value() != self.flag): self.flag = self.pin.value() time.sleep(0.02) if self.flag: return False else: return True def irq(self, handler, trigger): self.pin.irq(handler = handler, trigger = trigger) button = Button(9) '''MS32006-Drive''' class CAR: MOTO_R =1 MOTO_R1 =0 MOTO_R2 =7 MOTO_L =2 MOTO_L1 =4 MOTO_L2 =3 def __init__(self, i2c_bus): self.motor_a=ms32006.MS32006(i2c_bus,ms32006.ADDRESS_A) self.motor_b=ms32006.MS32006(i2c_bus,ms32006.ADDRESS_B) self.motor_move("P") def motor(self,index,action,speed=0): if action=="N": if index==self.MOTO_R: self.motor_a.dc_motor(ms32006.MOT_N,speed) if index==self.MOTO_L: self.motor_b.dc_motor(ms32006.MOT_N,speed) elif action=="P": if index==self.MOTO_R: self.motor_a.dc_motor(ms32006.MOT_P,speed) if index==self.MOTO_L: self.motor_b.dc_motor(ms32006.MOT_P,speed) elif action=="CW": if index==self.MOTO_R: self.motor_a.dc_motor(ms32006.MOT_CW,speed) if index==self.MOTO_L: self.motor_b.dc_motor(ms32006.MOT_CW,speed) elif action=="CCW": if index==self.MOTO_R: self.motor_a.dc_motor(ms32006.MOT_CCW,speed) if index==self.MOTO_L: self.motor_b.dc_motor(ms32006.MOT_CCW,speed) else: raise ValueError('Invalid input, valid are "N","P","CW","CCW"') def stepper(self,index,action,mot_pps,mot_step): if action=="N": if index==self.MOTO_R1 or index==self.MOTO_L1: self.motor_a.close(index) if index==self.MOTO_R2 or index==self.MOTO_L2: self.motor_b.close(index-3) elif action=="P": if index==self.MOTO_R1 or index==self.MOTO_L1: self.motor_a.stop(index) if index==self.MOTO_R2 or index==self.MOTO_L2: self.motor_b.stop(index-3) elif action=="CW": if index==self.MOTO_R1 or index==self.MOTO_L1: self.motor_a.move(index,ms32006.MOT_CW,mot_pps,mot_step) if index==self.MOTO_R2 or index==self.MOTO_L2: self.motor_b.move(index-3,ms32006.MOT_CW,mot_pps,mot_step) elif action=="CCW": if index==self.MOTO_R1 or index==self.MOTO_L1: self.motor_a.move(index,ms32006.MOT_CCW,mot_pps,mot_step) if index==self.MOTO_R2 or index==self.MOTO_L2: self.motor_b.move(index-3,ms32006.MOT_CCW,mot_pps,mot_step) else: raise ValueError('Invalid input, valid are "N","P","CW","CCW"') def stepper_readwork(self,index): if index==self.MOTO_R1 or index==self.MOTO_L1: return self.motor_a.readwork(index) if index==self.MOTO_R2 or index==self.MOTO_L2: return self.motor_b.readwork(index-3) def stepper_move(self,action,mot_pps,mot_step): if action=="N": self.motor_a.close(self.MOTO_R1) self.motor_a.close(self.MOTO_R2-3) self.motor_b.close(self.MOTO_L1) self.motor_b.close(self.MOTO_L2-3) elif action=="P": self.motor_a.stop(self.MOTO_R1) self.motor_a.stop(self.MOTO_R2-3) self.motor_b.stop(self.MOTO_L1) self.motor_b.stop(self.MOTO_L2-3) elif action=="F": self.motor_a.move(self.MOTO_R1,ms32006.MOT_CW,mot_pps,mot_step) self.motor_a.move(self.MOTO_R2-3,ms32006.MOT_CCW,mot_pps,mot_step) self.motor_b.move(self.MOTO_L1,ms32006.MOT_CW,mot_pps,mot_step) self.motor_b.move(self.MOTO_L2-3,ms32006.MOT_CCW,mot_pps,mot_step) elif action=="B": self.motor_a.move(self.MOTO_R1,ms32006.MOT_CCW,mot_pps,mot_step) self.motor_a.move(self.MOTO_R2-3,ms32006.MOT_CW,mot_pps,mot_step) self.motor_b.move(self.MOTO_L1,ms32006.MOT_CCW,mot_pps,mot_step) self.motor_b.move(self.MOTO_L2-3,ms32006.MOT_CW,mot_pps,mot_step) elif action=="L": self.motor_a.move(self.MOTO_R1,ms32006.MOT_CCW,mot_pps,mot_step) self.motor_a.move(self.MOTO_R2-3,ms32006.MOT_CCW,mot_pps,mot_step) self.motor_b.move(self.MOTO_L1,ms32006.MOT_CCW,mot_pps,mot_step) self.motor_b.move(self.MOTO_L2-3,ms32006.MOT_CCW,mot_pps,mot_step) elif action=="R": self.motor_a.move(self.MOTO_R1,ms32006.MOT_CW,mot_pps,mot_step) self.motor_a.move(self.MOTO_R2-3,ms32006.MOT_CW,mot_pps,mot_step) self.motor_b.move(self.MOTO_L1,ms32006.MOT_CW,mot_pps,mot_step) self.motor_b.move(self.MOTO_L2-3,ms32006.MOT_CW,mot_pps,mot_step) else: raise ValueError('Invalid input, valid are "N","P","F","B","L","R"') def motor_move(self,action,speed=100): if action=="N": self.motor_a.dc_motor(ms32006.MOT_N,speed) self.motor_b.dc_motor(ms32006.MOT_N,speed) elif action=="P": self.motor_a.dc_motor(ms32006.MOT_P,speed) self.motor_b.dc_motor(ms32006.MOT_P,speed) elif action=="F": self.motor_a.dc_motor(ms32006.MOT_CCW,speed) self.motor_b.dc_motor(ms32006.MOT_CW,speed) elif action=="B": self.motor_a.dc_motor(ms32006.MOT_CW,speed) self.motor_b.dc_motor(ms32006.MOT_CCW,speed) elif action=="L": self.motor_a.dc_motor(ms32006.MOT_CCW,speed) self.motor_b.dc_motor(ms32006.MOT_CCW,speed) elif action=="R": self.motor_a.dc_motor(ms32006.MOT_CW,speed) self.motor_b.dc_motor(ms32006.MOT_CW,speed) else: raise ValueError('Invalid input, valid are "N","P","F","B","L","R"') try : car=CAR(onboard_i2c) #Including LED,motor,patrol,obstacle except Exception as e: print("Warning: Failed to communicate with MS32006 or",e) '''IRtube-Drive''' class IRtube: OA=1 #Obstacle avoidance mode only LP=2 #Line patrol mode only AS=3 #Automatic mode switching def __init__(self): #auto：是否手动切换模拟开关转换 self.adc0 = ADC(Pin(0)) self.adc1 = ADC(Pin(1)) self.adc2 = ADC(Pin(3)) self.adc3 = ADC(Pin(4)) self.adc0.atten(ADC.ATTN_11DB) self.adc1.atten(ADC.ATTN_11DB) self.adc2.atten(ADC.ATTN_11DB) self.adc3.atten(ADC.ATTN_11DB) self.convert=Pin(2, Pin.OUT) self._mode=self.AS def read_bat(self): #读电池电量，返回电压值 self.convert = ADC(Pin(2)) self.convert.atten(ADC.ATTN_11DB) time.sleep_ms(5) bat_adc=self.convert.read()*0.0011 time.sleep_ms(5) self.convert=Pin(2, Pin.OUT) return bat_adc def obstacle(self): #读避障传感器,返回前左、右，后左、右，ADC值 if self._mode==self.AS: self.convert.value(0) time.sleep_ms(2) if self._mode==self.OA or self._mode==self.AS : return self.adc1.read_u16(),self.adc2.read_u16(),self.adc3.read_u16(),self.adc0.read_u16() else: raise ValueError('In line patrol mode, obstacle avoidance data cannot be read') def patrol(self): #读巡线传感器,返回左、中左、中右、右，ADC值 if self._mode==self.AS: self.convert.value(1) time.sleep_ms(2) if self._mode==self.LP or self._mode==self.AS: return self.adc0.read_u16(),self.adc1.read_u16(),self.adc2.read_u16(),self.adc3.read_u16() else: raise ValueError('In obstacle avoidance mode, line patrol data cannot be read') def ir_mode(self,select=0): #切换模式 self._mode=select if select==self.OA: self.convert.value(0) if select==self.LP: self.convert.value(1) time.sleep_ms(2) onboard_info = IRtube() '''Reclaim memory''' gc.collect()