初始化提交

boards/default/micropython_robot/build/lib/bot51.py

@@ -0,0 +1,203 @@
+"""
+BOT51
+
+Micropython	library for the BOT51(ADC*7, Motor*2*2, Matrix12x12, on/off)
+=======================================================
+
+#Preliminary composition					20230812
+
+@dahanzimin From the Mixly Team
+"""
+import uframebuf
+from micropython import const
+
+_BOT51_ADDRESS			= const(0x26)
+_BOT5_ID   				= const(0x00)
+_BOT51_VBAT				= const(0x01)
+_BOT51_PS				= const(0x03)
+_BOT51_ALS				= const(0x07)
+_BOT51_FLAG				= const(0x0B)
+_BOT51_MOTOR			= const(0x0C)
+_BOT51_LEDS				= const(0x10)
+
+class BOT51(uframebuf.FrameBuffer_Uincode):
+	def __init__(self, i2c_bus, address=_BOT51_ADDRESS, brightness=0.8, font_address=0x3A0000, width=12, height=12):
+		self._i2c= i2c_bus
+		self._addr = address
+		if self._rreg(_BOT5_ID) != 0x26:
+			raise AttributeError("Cannot find a BOT51")	
+		self._buffer = bytearray((width + 7) // 8 * height)
+		super().__init__(self._buffer, width, height, uframebuf.MONO_HMSB)
+		self.reset()
+		self.font(font_address)
+		self.set_brightness(brightness)
+
+	def _wreg(self, reg, val):
+		'''Write memory address'''
+		self._i2c.writeto_mem(self._addr, reg, val.to_bytes(1, 'little'))
+
+	def _rreg(self, reg, nbytes=1):
+		'''Read memory address'''
+		self._i2c.writeto(self._addr, reg.to_bytes(1, 'little'))
+		return  self._i2c.readfrom(self._addr, nbytes)[0] if nbytes<=1 else self._i2c.readfrom(self._addr, nbytes)[0:nbytes]
+
+	def reset(self):
+		"""Reset all registers to default state"""
+		for reg in range(_BOT51_MOTOR, _BOT51_MOTOR + 28):
+			self._wreg(reg, 0x00)
+
+	def shutdown(self, flag=True):
+		"""This function is only available on battery power"""
+		if flag:
+			self._wreg(_BOT51_FLAG, (self._rreg(_BOT51_FLAG)) & 0XBF)
+		else:
+			self._wreg(_BOT51_FLAG, (self._rreg(_BOT51_FLAG)) | 0X40)
+
+	def get_brightness(self):
+		return self._brightness
+
+	def set_brightness(self, brightness):
+		if not 0.0 <= brightness <= 1.0:
+			raise ValueError("Brightness must be a decimal number in the range: 0.0-1.0")
+		self._brightness = brightness
+		self._wreg(_BOT51_FLAG, round(15 * brightness) | (self._rreg(_BOT51_FLAG)) & 0xF0)
+
+	def direction(self, angle=0):
+		'''set display direction '''
+		if not 0 <= angle <= 3:
+			raise ValueError("Direction must be a number in the range: 0~3")
+		self._wreg(_BOT51_FLAG, angle << 4 | (self._rreg(_BOT51_FLAG)) & 0xCF)
+
+	def show(self):
+		"""Refresh the display and show the changes."""
+		self._i2c.writeto_mem(self._addr, _BOT51_LEDS, self._buffer)
+
+	def pwm(self, index, duty=None):
+		"""Motor*2*2 PWM duty cycle data register"""
+		if not 0 <= index <= 3:
+			raise ValueError("Motor port must be a number in the range: 0~3")
+		if duty is None:
+			return self._rreg(_BOT51_MOTOR + index)
+		else:
+			if not 0 <= duty <= 255:
+				raise ValueError("Duty must be a number in the range: 0~255")
+			self._wreg(_BOT51_MOTOR + index, duty)
+
+	def motor(self, index, action, speed=0, atten=0.4):
+		speed = round(max(min(speed, 100), -100) * atten)
+		if action=="N":
+			self.pwm(index * 2, 0)
+			self.pwm(index * 2 + 1, 0)
+		elif action=="P":
+			self.pwm(index * 2, 255)
+			self.pwm(index * 2 + 1, 255)
+		elif action=="CW":
+			if speed >= 0:
+				self.pwm(index * 2, 0)
+				self.pwm(index * 2 + 1, speed * 255 // 100)
+			else:
+				self.pwm(index * 2, - speed * 255 // 100)
+				self.pwm(index * 2 + 1, 0)
+		elif action=="CCW":
+			if speed >= 0:
+				self.pwm(index * 2, speed * 255 // 100)
+				self.pwm(index * 2 + 1, 0)
+			else:
+				self.pwm(index * 2, 0)
+				self.pwm(index * 2 + 1, - speed * 255 // 100)
+		elif action=="NC":
+			return round(self.pwm(index * 2) * 100 / 255 / atten), round(self.pwm(index * 2 + 1) * 100 / 255 / atten)
+		else:
+			raise ValueError('Invalid input, valid are "N","P","CW","CCW"')
+
+	def move(self, action, speed=100, atten=0.4):
+		if action=="N":
+			self.motor(0, "N")
+			self.motor(1, "N")
+		elif action=="P":
+			self.motor(0, "P")
+			self.motor(1, "P")
+		elif action=="F":
+			self.motor(0, "CCW", speed, atten)
+			self.motor(1, "CW", speed, atten)
+		elif action=="B":
+			self.motor(0, "CW", speed, atten)
+			self.motor(1, "CCW", speed, atten)
+		elif action=="L":
+			self.motor(0, "CW", speed, atten)
+			self.motor(1, "CW", speed, atten)
+		elif action=="R":
+			self.motor(0, "CCW", speed, atten)
+			self.motor(1, "CCW", speed, atten)
+		else:
+			raise ValueError('Invalid input, valid are "N","P","F","B","L","R"')  
+
+	def read_bat(self, ratio=5/1023):
+		'''Read battery power'''
+		vbat= self._rreg(_BOT51_VBAT) << 2 | self._rreg(_BOT51_VBAT + 1) >> 6
+		return round(vbat * ratio, 2)
+
+	def read_ps(self, index, ratio=100/1023):
+		'''Read proximity sensor values'''
+		if not 0 <= index <= 1:
+			raise ValueError("Proximity sensor port must be a number in the range: 0,1")
+		vps= self._rreg(_BOT51_PS + (1 - index) * 2) << 2 | self._rreg(_BOT51_PS + (1 - index) * 2 + 1) >> 6
+		return round(vps * ratio, 2)
+
+	def read_als(self, index, ratio=100/255):
+		'''Read light sensor values'''
+		if not 0 <= index <= 3:
+			raise ValueError("Light sensor port must be a number in the range: 0~3")
+		vals= self._rreg(_BOT51_ALS + index)
+		return round(vals * ratio)
+
+	"""Graph module"""
+	HEART_SMALL=b'\x00\x00\x00\x00\x88\x00\xdc\x01\xfe\x03\xfe\x03\xfc\x01\xf8\x00p\x00 \x00\x00\x00\x00\x00'
+	HEART=b'\x00\x00\x88\x00\xdc\x01\xfe\x03\xff\x07\xff\x07\xfe\x03\xfc\x01\xf8\x00p\x00 \x00\x00\x00'
+	HAPPY=b'\x00\x00\x00\x00\x01\x08\x01\x08\x01\x08\x00\x00\x00\x00\x04\x02\x08\x01\x90\x00`\x00\x00\x00'
+	SAD=b'\x00\x00\x00\x00\x07\x0e\x00\x00\x00\x00\x00\x00\x00\x00`\x00\x90\x00\x08\x01\x04\x02\x00\x00'
+	SMILE=b'\x00\x00\x00\x00\x01\x08\x03\x0c\x00\x00\x00\x00\x00\x00\x00\x00\x03\x0c\x0e\x07\xf8\x01\x00\x00'
+	SILLY=b'\x00\x00\x00\x00\x01\x08\x02\x04\x01\x08\x00\x00\x00\x00\xf8\x01\x08\x01\x90\x00`\x00\x00\x00'
+	FABULOUS=b'\x00\x00\x01\x08\x02\x04\x03\x0c\x00\x00\x00\x00\xfe\x07\x02\x04\x02\x04\x04\x02\xf8\x01\x00\x00'
+	SURPRISED=b'`\x00`\x00`\x00`\x00`\x00`\x00`\x00`\x00\x00\x00`\x00`\x00\x00\x00'
+	ASLEEP=b'\x00\x00\x00\x00\x00\x00\x03\x0c\x00\x00\x00\x00\x00\x00\x00\x00\xf8\x01\x04\x02\xf8\x01\x00\x00'
+	ANGRY=b'\x00\x00\x08\x01\x04\x02\x02\x04\x01\x08\x00\x00\x00\x00`\x00\x90\x00\x08\x01\x04\x02\x02\x04'
+	CONFUSED=b'\xf0\x00\x98\x01\x0c\x03\x0c\x03\x00\x03\x80\x01\xc0\x00`\x00`\x00\x00\x00`\x00`\x00'
+	NO=b'\x00\x00\x00\x00\x04\x02\x08\x01\x90\x00`\x00`\x00\x90\x00\x08\x01\x04\x02\x00\x00\x00\x00'
+	YES=b'\x00\x00\x00\x00\x00\x0c\x00\x06\x00\x03\x80\x01\xc3\x00f\x00<\x00\x18\x00\x00\x00\x00\x00'
+	LEFT_ARROW=b'\x00\x00\x00\x00\x10\x00\x08\x00\x04\x00\xfa\x07\x04\x00\x08\x00\x10\x00\x00\x00\x00\x00\x00\x00'
+	RIGHT_ARROW=b'\x00\x00\x00\x00\x80\x00\x00\x01\x00\x02\xfe\x05\x00\x02\x00\x01\x80\x00\x00\x00\x00\x00\x00\x00'
+	DRESS=b'\x00\x00\x00\x00\x88\x00\xfc\x01\xd8\x00\x70\x00\xa8\x00\x54\x01\xaa\x02\xfc\x01\x00\x00\x00\x00'
+	TRANSFORMERS=b'\x00\x00\x40\x00\x40\x00\xb0\x01\x50\x01\x50\x01\x50\x01\xa0\x00\xa0\x00\x10\x01\x08\x02\x00\x00'
+	SCISSORS=b'\x00\x00\x01\x04\x03\x06\x06\x03\x8c\x01\xd8\x00\x70\x00\x20\x00\xdc\x01\x52\x02\x52\x02\x8c\x01'
+	EXIT=b'\x00\x00\xc0\x00\x40\x00\x70\x00\xe8\x00\x24\x03\x20\x00\x54\x00\x90\x00\x10\x01\x00\x02\x00\x00'
+	TREE=b'\x00\x00\x20\x00\x70\x00\xf8\x00\xfc\x01\xfe\x03\xff\x07\x20\x00\x20\x00\x20\x00\x20\x00\x00\x00'
+	PACMAN=b'\x00\x00\xfc\x01\x06\x02\x23\x01\x83\x00\x41\x00\x83\x00\x03\x01\x06\x02\xfc\x01\x00\x00\x00\x00'
+	TARGET=b'\x00\x00\x00\x00\xf0\x01\x08\x02\x08\x02\x48\x02\x08\x02\x08\x02\xf0\x01\x00\x00\x00\x00\x00\x00'
+	TSHIRT=b'\x10\x01\xe8\x02\x04\x04\x02\x08\x0c\x06\x08\x02\x08\x02\x08\x02\x08\x02\x08\x02\xf8\x03\x00\x00'
+	ROLLERSKATE=b'\x00\x00\x3e\x00\x22\x00\x22\x00\xe2\x03\x02\x04\x02\x04\xfe\x07\x05\x0a\x07\x0e\x00\x00\x00\x00'
+	DUCK=b'\x00\x00\x00\x00\x38\x00\x24\x00\x42\x00\x4f\x00\xc8\x0f\x08\x04\x08\x02\xf8\x01\x00\x00\x00\x00'
+	HOUSE=b'\x00\x00\xfc\x03\x06\x06\x03\x0c\xf4\x02\x94\x02\x94\x02\xb4\x02\x94\x02\x94\x02\x00\x00\x00\x00'
+	TORTOISE=b'\x00\x00\x60\x00\x68\x01\xf8\x01\xf8\x01\xf8\x01\xf8\x01\xf8\x01\xf8\x01\xf0\x00\x08\x01\x00\x00'
+	BUTTERFLY=b'\x00\x00\x06\x03\x89\x04\x51\x04\xfe\x03\x70\x00\xa8\x00\x74\x01\x8a\x02\x06\x03\x00\x00\x00\x00'
+	STICKFIGURE=b'\x20\x00\x50\x00\x50\x00\x20\x00\x20\x00\x70\x00\xa8\x00\x24\x01\x50\x00\x88\x00\x04\x01\x00\x00'
+	GHOST=b'\x00\x00\xf8\x00\xac\x01\xac\x01\xac\x01\xfc\x01\xac\x01\xac\x01\x54\x01\xfc\x03\xfc\x07\x00\x00'
+	PITCHFORK=b'\x00\x00\x00\x00\x00\x0f\x80\x00\x80\x00\xff\x0f\x80\x00\x80\x00\x00\x0f\x00\x00\x00\x00\x00\x00'
+	MUSIC_QUAVERS=b'\x00\x00\x00\x00\x00\x00\x00\x00\x8c\x01\xde\x03\x79\x0f\x30\x06\x00\x00\x00\x00\x00\x00\x00\x00'
+	MUSIC_QUAVER=b'\xc0\x00\x40\x01\x40\x01\x40\x01\x40\x01\x40\x00\x40\x00\x58\x00\x7c\x00\x7e\x00\x3e\x00\x1c\x00'
+	MUSIC_CROTCHET=b'\x40\x00\x40\x00\x40\x00\x40\x00\x40\x00\x40\x00\x40\x00\x58\x00\x7c\x00\x7e\x00\x3e\x00\x1c\x00'
+	COW=b'\x00\x00\x00\x00\x08\x00\x1e\x00\xfa\x03\xfe\x07\xfe\x0b\x18\x0b\x18\x03\x18\x03\x18\x03\x00\x00'
+	RABBIT=b'\x50\x00\xa8\x00\xa8\x00\xa8\x00\xa8\x00\x8c\x01\x04\x01\x54\x01\x04\x01\x24\x01\x74\x01\xf8\x00'
+	SQUARE_SMALL=b'\x00\x00\x00\x00\x00\x00\x00\x00\xf0\x00\x90\x00\x90\x00\xf0\x00\x00\x00\x00\x00\x00\x00\x00\x00'
+	SQUARE=b'\xff\x0f\x01\x08\x01\x08\x01\x08\x01\x08\x01\x08\x01\x08\x01\x08\x01\x08\x01\x08\x01\x08\xff\x0f'
+	DIAMOND_SMALL=b'\x00\x00\x00\x00\x00\x00\x00\x00\x70\x00\xa8\x00\x50\x00\x20\x00\x00\x00\x00\x00\x00\x00\x00\x00'
+	DIAMOND=b'\x00\x00\x00\x00\xfc\x01\x56\x03\xfb\x06\x76\x03\xac\x01\xd8\x00\x70\x00\x20\x00\x00\x00\x00\x00'
+	CHESSBOARD=b'\x00\x00\x00\x00\xff\x07\x55\x05\xff\x07\x55\x05\xff\x07\x55\x05\xff\x07\x00\x00\x00\x00\x00\x00'
+	TRIANGLE_LEFT=b'\x00\x00\x00\x00\x80\x00\xc0\x00\xe0\x00\xf0\x00\xe0\x00\xc0\x00\x80\x00\x00\x00\x00\x00\x00\x00'
+	TRIANGLE=b'\x00\x00\x00\x00\x00\x00\x60\x00\xf0\x00\xf8\x01\xfc\x03\xfe\x07\xff\x0f\x00\x00\x00\x00\x00\x00'
+	SNAKE=b'\x00\x00\x00\x00\x00\x00\x00\x0e\x00\x0a\x00\x0e\xf0\x03\xf8\x03\x1c\x00\x0e\x00\x00\x00\x00\x00'
+	UMBRELLA=b'\x00\x00\x00\x00\x20\x00\xf8\x00\xfc\x01\xfe\x03\x20\x00\x20\x00\x20\x00\xa0\x00\x40\x00\x00\x00'
+	SKULL=b'\x00\x00\x00\x00\xf8\x00\x24\x01\x22\x02\xde\x03\xfc\x01\x88\x00\x88\x00\xa8\x00\x70\x00\x00\x00'
+	GIRAFFE=b'\xc0\x00\xc0\x01\x40\x00\x40\x00\x40\x00\x40\x00\x40\x00\x40\x00\x78\x00\x48\x00\x48\x00\x48\x00'
+	SWORD=b'\x00\x00\x00\x00\x00\x00\x04\x00\x0c\x00\xff\x07\xff\x07\x0c\x00\x04\x00\x00\x00\x00\x00\x00\x00'
+

boards/default/micropython_robot/build/lib/feiyi.py

@@ -0,0 +1,136 @@
+"""
+MixGo CC -Onboard resources
+
+MicroPython library for the MixGo CC -Onboard resources
+=======================================================
+
+#Preliminary composition                20221010
+
+dahanzimin From the Mixly Team
+"""
+
+import time,gc
+from machine import Pin,SoftI2C,ADC,PWM,Timer,RTC
+
+'''i2c-onboard'''
+onboard_i2c=SoftI2C(scl = Pin(6), sda = Pin(7), freq = 400000)
+
+'''RTC'''
+rtc_clock=RTC()
+
+'''ACC-Sensor'''
+try :
+    import mxc6655xa
+    onboard_acc = mxc6655xa.MXC6655XA(onboard_i2c)     
+except Exception as e:
+    print("Warning: Failed to communicate with MXC6655XA (ACC) or",e)
+
+'''ALS_PS-Sensor'''
+try :
+    import ltr553als
+    onboard_als = ltr553als.LTR_553ALS(onboard_i2c)     
+except Exception as e:
+    print("Warning: Failed to communicate with TR_553ALS (ALS&PS) or",e)
+
+#PS The previous version cancelled this feature
+# '''BPS-Sensor'''
+# try :
+#     import hp203x
+#     onboard_hp203x = hp203x.HP203X(onboard_i2c)     
+# except Exception as e:
+#     print("Warning: Failed to communicate with HP203X (BPS) or",e)
+
+# '''THS-Sensor'''
+# try :
+#     import ahtx0
+#     onboard_ahtx0 = ahtx0.AHTx0(onboard_i2c)     
+# except Exception as e:
+#     print("Warning: Failed to communicate with AHTx0 (THS) or",e)
+
+'''RFID-Sensor'''
+try :
+    import rc522
+    onboard_rfid = rc522.RC522(onboard_i2c)     
+except Exception as e:
+    print("Warning: Failed to communicate with RC522 (RFID) or",e)
+
+'''ADC*7, Motor*2*2, Matrix12x12'''
+try :
+    import bot51
+    onboard_bot51 = bot51.BOT51(onboard_i2c)
+    onboard_matrix = onboard_bot51    
+except Exception as e:
+    print("Warning: Failed to communicate with Bot51 (Matrix Motor ALS ADC..) or",e)
+
+'''MGS-Sensor'''
+try :
+    import mmc5603
+    onboard_mgs = mmc5603.MMC5603(onboard_i2c)
+except Exception as e:
+    print("Warning: Failed to communicate with MMC5603 (MGS) or",e)
+
+'''2RGB_WS2812'''    
+from ws2812 import NeoPixel
+onboard_rgb = NeoPixel(Pin(8), 4)
+
+'''1Buzzer-Music'''
+from music import MIDI
+onboard_music =MIDI(10)
+
+'''MIC_Sensor'''
+class MICSensor:
+    def __init__(self,pin):
+        self.adc=ADC(Pin(pin))
+        self.adc.atten(ADC.ATTN_11DB) 
+        
+    def read(self):
+        maxloudness = 0
+        for i in range(5):
+            loudness = self.sample()  
+            if loudness > maxloudness:
+                maxloudness = loudness
+        return maxloudness  
+        
+    def sample(self):
+        values = []
+        for i in range(50):
+            val = self.adc.read_u16()
+            values.append(val)
+        return max(values) - min(values)
+
+onboard_sound = MICSensor(4)
+
+'''2Button'''
+class Button:
+    def __init__(self, pin):
+        self.pin = Pin(pin, Pin.IN, Pin.PULL_UP)
+        self.flag = True
+
+    def get_presses(self, delay = 1):
+        last_time,presses = time.time(), 0
+        while time.time() < last_time + delay:
+            time.sleep(0.05)
+            if self.was_pressed():
+                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_a = Button(5)
+button_b = Button(9)
+
+'''Reclaim memory'''
+gc.collect()

boards/default/micropython_robot/build/lib/mixbot.py

@@ -0,0 +1,354 @@
+"""
+Mixbot-Onboard resources
+
+Micropython library for the Mixbot-Onboard resources
+=======================================================
+
+@dahanzimin From the Mixly Team
+"""
+
+import time, gc, random, uframebuf
+from micropython import const
+from machine import Pin, SoftI2C, ADC, PWM, RTC
+
+'''RTC'''
+rtc_clock=RTC()
+
+'''2RGB_WS2812'''
+from ws2812 import NeoPixel
+onboard_rgb = NeoPixel(Pin(12), 2, default=1)
+
+'''1Buzzer-Music'''
+from music import MIDI
+onboard_music =MIDI(25)
+
+spk_en = Pin(27, Pin.OUT)
+spk_en.value(0)
+
+'''i2c-onboard & ext'''
+class I2C_device(SoftI2C):
+
+	CRC8_Table =b'\x00^\xbc\xe2a?\xdd\x83\xc2\x9c~ \xa3\xfd\x1fA\x9d\xc3!\x7f\xfc\xa2@\x1e_\x01\xe3\xbd>`\x82\xdc#}\x9f\xc1B\x1c\xfe\xa0\xe1\xbf]\x03\x80\xde<b\xbe\xe0\x02\\\xdf\x81c=|"\xc0\x9e\x1dC\xa1\xffF\x18\xfa\xa4\'y\x9b\xc5\x84\xda8f\xe5\xbbY\x07\xdb\x85g9\xba\xe4\x06X\x19G\xa5\xfbx&\xc4\x9ae;\xd9\x87\x04Z\xb8\xe6\xa7\xf9\x1bE\xc6\x98z$\xf8\xa6D\x1a\x99\xc7%{:d\x86\xd8[\x05\xe7\xb9\x8c\xd20n\xed\xb3Q\x0fN\x10\xf2\xac/q\x93\xcd\x11O\xad\xf3p.\xcc\x92\xd3\x8do1\xb2\xec\x0eP\xaf\xf1\x13M\xce\x90r,m3\xd1\x8f\x0cR\xb0\xee2l\x8e\xd0S\r\xef\xb1\xf0\xaeL\x12\x91\xcf-s\xca\x94v(\xab\xf5\x17I\x08V\xb4\xeai7\xd5\x8bW\t\xeb\xb56h\x8a\xd4\x95\xcb)w\xf4\xaaH\x16\xe9\xb7U\x0b\x88\xd64j+u\x97\xc9J\x14\xf6\xa8t*\xc8\x96\x15K\xa9\xf7\xb6\xe8\nT\xd7\x89k5'
+
+	def _crc8(self, buf):
+		_sum = 0
+		for i in range(0, len(buf)):
+			_sum = self.CRC8_Table[_sum ^ buf[i]]
+		return _sum
+
+	def read_device(self, addr, cmd, nbytes=1):
+		buf = self.readfrom_mem(addr, cmd, nbytes+2)
+		if self._crc8(buf[:-1]) == buf[-1]:
+			return buf[1] if nbytes<=1 else buf[1:-1]
+
+	def write_device(self, addr, cmd, buf=0):
+		buf = buf.to_bytes(1, 'little') if type(buf) is int else buf
+		buf = bytearray([cmd, random.randint(0, 255)]) + buf
+		crc8 = self._crc8(buf).to_bytes(1, 'little')
+		self.writeto(addr, buf + crc8)
+		if crc8 == self.readfrom(addr, 1):
+			return True
+
+onboard_i2c = I2C_device(scl=Pin(18), sda=Pin(23) , freq=400000)
+ext_i2c = I2C_device(scl=Pin(22), sda=Pin(21), freq=200000)
+
+'''Version judgment'''
+if 0x68 in onboard_i2c.scan():
+	version=1
+else:
+	version=0
+
+'''Accelerometer+Gyroscope'''
+if version:
+	import icm42670
+	acc_gyr = icm42670.ICM42670(onboard_i2c)
+
+'''2-Button'''
+class Button:
+	def __init__(self, pin, level=True):
+		self._pin = Pin(pin, Pin.IN)
+		self._flag = True
+		self._level = level
+
+	def get_presses(self, delay = 1):
+		last_time,presses = time.time(), 0
+		while time.time() < last_time + delay:
+			time.sleep(0.05)
+			if self.was_pressed():
+				presses += 1
+		return presses
+
+	def is_pressed(self):
+		return self._pin.value() == self._level
+
+	def was_pressed(self):
+		if self._pin.value() != self._flag:
+			time.sleep(0.01)
+			self._flag = self._pin.value()
+			return self._level if self._flag else not self._level
+
+	def irq(self, handler, trigger):
+		self._pin.irq(handler = handler, trigger = trigger)
+
+button_p = Button(34, True)
+button_a = Button(35, False)
+button_b = Button(39, False)
+
+'''2-LED'''  
+class LED:
+	def __init__(self, pin):
+		self._pin =PWM(Pin(pin), freq=5000, duty_u16=65535)
+		self.setbrightness(0)
+		
+	def setbrightness(self,val):
+		if not 0 <= val <= 100:
+			raise ValueError("Brightness must be in the range: 0-100%")
+		self._brightness=val
+		self._pin.duty_u16(val * 65535 // 100)
+
+	def getbrightness(self):
+		return self._brightness
+
+	def setonoff(self,val):
+		if(val == -1):
+			self.setbrightness(100)  if self._brightness < 50 else self.setbrightness(0) 
+		elif(val == 1):
+			self.setbrightness(100) 
+		elif(val == 0):
+			self.setbrightness(0) 
+			
+	def getonoff(self):
+		return True if self._brightness > 0 else False
+
+	def value(self,val=None):
+		if val is None:
+			return self.getonoff()
+		else:
+			self.setbrightness(100)  if val else self.setbrightness(0)
+
+rled = LED(2)
+gled = LED(4)
+
+'''3-ADCSensor'''
+class ADCSensor:
+	def __init__(self, pin):
+		self.adc=ADC(Pin(pin))
+		self.adc.atten(ADC.ATTN_11DB) 
+
+	def read(self):
+		return self.adc.read_u16()
+	
+	def voltage(self, scale=4.6):
+		return round(self.adc.read_uv() * scale / 1000000, 2) 
+
+	def loudness(self):
+		values = []
+		for i in range(200):
+			val = self.adc.read_u16()
+			values.append(val)
+		return max(values) - min(values)
+
+adc1 = ADCSensor(33)
+adc2 = ADCSensor(32)
+battery = ADCSensor(36)
+sound = ADCSensor(38)
+
+'''4-FindLine /i2c'''
+class FindLine(object):
+
+	CORRECTING_WHITE        = const(0x01)
+	CORRECTING_BLACK        = const(0x02)
+	CORRECTING_RESET_TO_FAB = const(0x04)
+
+	def __init__(self, i2c_bus, addr=0x01):
+		self._i2c = i2c_bus
+		self._addr = addr
+		self._data = (0,0,0,0)
+	
+	def getdata(self):
+		_buf = self._i2c.read_device(self._addr, 0x10, 4)
+		if _buf:
+			self._data = tuple(_buf)
+		return self._data
+	
+	def correct(self,type):
+		'''type 0x01 校正白色 0x02 校正黑色 0x04 恢复出厂 '''
+		if type not in [CORRECTING_WHITE, CORRECTING_BLACK, CORRECTING_RESET_TO_FAB]:
+			raise ValueError('Invalid parameter')
+		self._i2c.write_device(self._addr, 0xA0, type)
+
+patrol = FindLine(onboard_i2c)
+
+'''4-LEDmatrix /i2c'''
+class Matrix5x5(uframebuf.FrameBuffer_Ascall):
+
+	"""Graph module 5x5"""
+	HEART = b'\n\x1f\x1f\x0e\x04'
+	HEART_SMALL = b'\x00\n\x0e\x04\x00'
+	HAPPY = b'\x00\n\x00\x11\x0e'
+	SAD = b'\x00\n\x00\x0e\x11'
+	SMILE =  b'\x00\x00\x00\x11\x0e'
+	SILLY = b'\x11\x00\x1f\x14\x1c'
+	FABULOUS = b'\x1f\x1b\x00\n\x0e'
+	SURPRISED = b'\n\x00\x04\n\x04'
+	ASLEEP = b'\x00\x1b\x00\x0e\x00'
+	ANGRY = b'\x11\n\x00\x1f\x15'		
+	CONFUSED = b'\x00\n\x00\n\x15'
+	NO = b'\x11\n\x04\n\x11'
+	YES = b'\x00\x10\x08\x05\x02'
+	LEFT_ARROW = b'\x04\x02\x1f\x02\x04'
+	RIGHT_ARROW = b'\x04\x08\x1f\x08\x04'
+	DRESS = b'\n\x1b\x0e\x0e\x1f'
+	TRANSFORMERS = b'\x04\x0e\x15\n\x11'
+	SCISSORS = b'\x13\x0b\x04\x0b\x13'
+	EXIT = b'\x04\x0e\x15\x0b\x10'
+	TREE = b'\x04\x0e\x1f\x04\x04'
+	PACMAN = b'\x1e\x0b\x07\x0f\x1e'
+	TARGET = b'\x04\x0e\x1b\x0e\x04'
+	TSHIRT = b'\x1b\x1f\x0e\x0e\x0e'
+	ROLLERSKATE = b'\x18\x18\x1f\x1f\n'
+	DUCK = b'\x06\x07\x1e\x0e\x00'
+	HOUSE = b'\x04\x0e\x1f\x0e\n'
+	TORTOISE = b'\x00\x0e\x1f\n\x00'
+	BUTTERFLY = b'\x1b\x1f\x04\x1f\x1b'
+	STICKFIGURE = b'\x04\x1f\x04\n\x11'
+	GHOST = b'\x1f\x15\x1f\x1f\x15'
+	PITCHFORK = b'\x15\x15\x1f\x04\x04'
+	MUSIC_QUAVERS = b'\x1e\x12\x12\x1b\x1b'	
+	MUSIC_QUAVER = b'\x04\x0c\x14\x07\x07'
+	MUSIC_CROTCHET = b'\x04\x04\x04\x07\x07'
+	COW = b'\x11\x11\x1f\x0e\x04'
+	RABBIT = b'\x05\x05\x0f\x0b\x0f'
+	SQUARE_SMALL = b'\x00\x0e\n\x0e\x00'
+	SQUARE = b'\x1f\x11\x11\x11\x1f'
+	DIAMOND_SMALL = b'\x00\x04\n\x04\x00'
+	DIAMOND = b'\x04\n\x11\n\x04' 
+	CHESSBOARD = b'\n\x15\n\x15\n'
+	TRIANGLE_LEFT = b'\x01\x03\x05\t\x1f'				
+	TRIANGLE = b'\x00\x04\n\x1f\x00'
+	SNAKE = b'\x03\x1b\n\x0e\x00'
+	UMBRELLA = b'\x0e\x1f\x04\x05\x06'
+	SKULL = b'\x0e\x15\x1f\x0e\x0e'	
+	GIRAFFE = b'\x03\x02\x02\x0e\n'
+	SWORD = b'\x04\x04\x04\x0e\x04' 
+
+
+	def __init__(self, i2c_bus, addr=0x03, brightness=0.5):
+		self._i2c = i2c_bus
+		self._addr = addr
+		self._brightness= brightness
+		self._buffer = bytearray(5)
+		super().__init__(self._buffer, 5, 5, uframebuf.MONO_HMSB) 
+		self.font("5x5")
+		self.screenbright(self._brightness)
+		self.clear()   
+
+	def screenbright(self, brightness=None, background=0):
+		if brightness is None :
+			return self._brightness
+		else:
+			if not 0.0 <= brightness <= 1.0:
+				raise ValueError("Brightness must be a decimal number in the range: 0.0-1.0")
+			self._brightness = brightness
+			self._i2c.write_device(self._addr, 0xA5, bytes([round(255 * brightness), round(255 * background)])) 
+
+	def ambientbright(self):
+		bright = self._i2c.read_device(self._addr, 0x10)
+		if bright:
+			return bright
+
+	def direction(self,mode = 0):
+		'''set display direction '''
+		self._i2c.write_device(self._addr, 0xA7, mode)
+
+	def show(self):
+		'''Refresh the display and show the changes'''
+		buf = bytearray(4)
+		buf[0] = (self._buffer[4] & 0xF0) >> 4
+		buf[1] = (self._buffer[3] & 0x1E) >> 1 | (self._buffer[4] & 0x0F) << 4
+		buf[2] = (self._buffer[1] & 0x18) >> 3 | (self._buffer[2] & 0x1F) << 2 | (self._buffer[3] & 0x01) << 7
+		buf[3] = (self._buffer[0] & 0x1F) | (self._buffer[1] & 0x07) << 5 
+		self._i2c.write_device(self._addr, 0xA1, buf)
+
+	def clear(self):
+		''' clear display'''
+		self._i2c.write_device(self._addr, 0xA6)
+	
+onboard_matrix = Matrix5x5(onboard_i2c)
+
+'''2 Motor /i2c'''
+class Motor(object):
+	
+	STOP_MODE	= const(0x00)
+	BRAKE_MODE	= const(0x01)
+	PWR_MODE	= const(0x02)
+	SPEED_MODE	= const(0x03)
+	TURNS_MODE	= const(0x04)
+	
+	def __init__(self, i2c_bus, addr=0x02, scale=90 * 4):
+		self._i2c = i2c_bus
+		self._addr = addr
+		self._scale = scale
+		self._signala = PWM(Pin(13), freq=500, duty_u16=49150)
+		self._signalb = PWM(Pin(14), freq=500, duty_u16=49150)
+		self._status = ((0,0,0,0), (0,0,0,0))
+		self._motor = ([0,0], [0,0])
+	
+	def _u2s(self, value, n=8):
+		return value if value < (1 << (n-1)) else value - (1 << n)	
+	
+	def status(self):
+		_buf = self._i2c.read_device(self._addr, 0x10, 9)
+		if _buf:
+			self._status = ((_buf[0] >> 4, -self._u2s(_buf[1]), -self._u2s(_buf[3]), abs(self._u2s(_buf[6] << 8 | _buf[5], 16))),
+							(_buf[0] & 0x0F, self._u2s(_buf[2]), self._u2s(_buf[4]), abs(self._u2s(_buf[8] << 8 | _buf[7], 16))))   
+		return self._status
+		
+	def run(self, idx, mode, value):
+		if idx == 1 or idx == 2:
+			self._motor[idx-1][0], self._motor[idx-1][1] = mode, value
+		else:
+			self._motor = ([mode, value], [mode, value])
+
+		buf =  bytearray(5)
+		m1_pwr_speed, m2_pwr_speed = 0, 0
+		buf[0] = (self._motor[0][0] << 4) | self._motor[1][0] 
+		if self._motor[0][0] == self.TURNS_MODE:
+			_turns = round(self._motor[0][1] * self._scale)
+			buf[1] = (- _turns) & 0xFF
+			buf[2] = ((- _turns) >> 8) & 0xFF
+		else:
+			m1_pwr_speed = - max(min(self._motor[0][1], 100), -100)
+		if self._motor[1][0] == self.TURNS_MODE:
+			_turns = round(self._motor[1][1] * self._scale)
+			buf[3] = _turns & 0xFF
+			buf[4] = (_turns >> 8) & 0xFF
+		else:
+			m2_pwr_speed = max(min(self._motor[1][1], 100), -100)
+		
+		self._i2c.write_device(self._addr, 0xA0, buf)
+		self._signala.duty_u16(33422 + 31457 * (m1_pwr_speed + 100) // 200)
+		self._signalb.duty_u16(33422 + 31457 * (m2_pwr_speed + 100) // 200)
+
+	def move(self, action, mode, value=100):
+		if action=="N":
+			self.run(0, self.STOP_MODE, 0)
+		elif action=="P":
+			self.run(0, self.BRAKE_MODE, 0)
+		elif action=="F":
+			self.run(0, mode, value)
+		elif action=="B":
+			self.run(0, mode, -value)
+		elif action=="L":
+			self.run(1, mode, -value)
+			self.run(2, mode, value)
+		elif action=="R":
+			self.run(1, mode, value)
+			self.run(2, mode, -value)			
+		else:
+			raise ValueError('Invalid input, valid are "N","P","F","B","L","R"') 
+
+motor = Motor(onboard_i2c)
+
+'''Reclaim memory'''
+gc.collect()

boards/default/micropython_robot/build/lib/mixbot_ext.py

@@ -0,0 +1,44 @@
+"""
+Mixbot-EXT
+
+Micropython library for the Mixbot-External integrated I2C equipment
+=======================================================
+
+@dahanzimin From the Mixly Team
+"""
+import i2cdevice
+from mixbot import ext_i2c
+
+'''Motor'''
+ext_motor = i2cdevice.Motor(ext_i2c)
+
+'''Traffic light'''
+ext_traffic = i2cdevice.Traffic_LED(ext_i2c)
+
+'''LED /RGBYW'''
+R_LED = i2cdevice.R_LED(ext_i2c)
+G_LED = i2cdevice.G_LED(ext_i2c)
+B_LED = i2cdevice.B_LED(ext_i2c)
+Y_LED = i2cdevice.Y_LED(ext_i2c)
+W_LED = i2cdevice.W_LED(ext_i2c)
+
+'''button*5'''
+ext_button = i2cdevice.Buttonx5(ext_i2c)
+
+'''collision sensor'''
+ext_collision = i2cdevice.Button(ext_i2c)
+
+'''Infrared sensor'''
+ext_infrared = i2cdevice.Infrared(ext_i2c)
+
+'''Potentiometer'''
+ext_potentiometer = i2cdevice.Dimmer(ext_i2c)
+
+'''Color sensor'''
+ext_color = i2cdevice.Color_ID(ext_i2c)
+
+'''Servo Motor'''
+ext_servo = i2cdevice.Motor_servo(ext_i2c)
+
+'''Sonar'''
+ext_sonar = i2cdevice.Sonar(ext_i2c)

boards/default/micropython_robot/build/lib/rm_e1.py

@@ -0,0 +1,174 @@
+"""
+RM E1 -Onboard resources
+
+MicroPython library for the RM E1 -Onboard resources
+=======================================================
+
+#Preliminary composition       				20220703
+
+dahanzimin From the Mixly Team
+"""
+
+import time,gc
+#import ble_handle
+from machine import Pin,SoftI2C,ADC,PWM,RTC
+
+'''Bluetooth-handle'''
+#handle=ble_handle.Handle()
+
+'''i2c-onboard'''
+onboard_i2c=SoftI2C(scl = Pin(22), sda = Pin(21), freq = 400000)
+
+'''RTC'''
+rtc_clock=RTC()
+
+'''ACC-Sensor'''
+class ACC:
+	def __init__(self,i2c_bus):
+		self._device = i2c_bus
+		self._address = 0x09
+	
+	def _rreg(self,nbytes):
+		'''Read memory address'''
+		return  self._device.readfrom(self._address, nbytes)
+	
+	def acceleration(self): 
+		data_reg=self._rreg(3)
+		return data_reg[0],data_reg[1],data_reg[2]	#返回x y轴数值(0~180)及晃动值
+
+try :
+	gyro=ACC(onboard_i2c)
+except Exception as e:
+	print("Warning: Failed to communicate with ACC or",e)
+
+'''2RGB_WS2812'''	#color_chase(),rainbow_cycle()方法移至类里
+from ws2812 import NeoPixel
+onboard_rgb = NeoPixel(Pin(12), 2, default=1)
+
+'''3-Button'''
+class Button:
+	def __init__(self, pin):
+		self._pin = Pin(pin, Pin.IN)
+		self._flag = True
+
+	def get_presses(self, delay = 1):
+		last_time,presses = time.time(), 0
+		while time.time() < last_time + delay:
+			time.sleep(0.05)
+			if self.was_pressed():
+				presses += 1
+		return presses
+
+	def is_pressed(self):
+		return self._pin.value() == False
+
+	def was_pressed(self):
+		if self._pin.value() != self._flag:
+			time.sleep(0.01)
+			self._flag = self._pin.value()
+			if self._flag:
+				return False
+			else:
+				return True
+
+	def irq(self, handler, trigger):
+		self._pin.irq(handler = handler, trigger = trigger)
+
+button_p   = Button(35)
+button_cw  = Button(39)
+button_ccw = Button(36)
+
+'''3-ADCSensor'''
+class ADCSensor:
+	def __init__(self, pin):
+		self._adc=ADC(Pin(pin))
+		self._adc.atten(ADC.ATTN_11DB) 
+
+	def read(self):
+		return self._adc.read_u16()
+	
+	def voltage(self):
+		return round(self._adc.read_uv()*4.6/1000000,2)	
+	
+adc1=ADCSensor(32)
+adc2=ADCSensor(33)
+
+'''ADC conflicts with WiFi'''
+try:
+	battery=ADCSensor(26)
+except:
+	class Clash:
+		def voltage(self):
+			print("Warning: battery power collection conflicts with WiFi")
+			return None
+	battery=Clash()
+
+'''2-LED'''	 #Repair brightness adjustment range 0-100%	
+class LED:
+	def __init__(self, pin):
+		self._pin =PWM(Pin(pin),freq=5000,duty_u16=0)
+		self.setbrightness(0)
+
+	def value(self, val):
+		self.setonoff(val)
+		
+	def setbrightness(self,val):
+		if not 0 <= val <= 100:
+			raise ValueError("Brightness must be in the range: 0-100%")
+		self._brightness=val
+		self._pin.duty_u16(val*65535//100)
+
+	def getbrightness(self):
+		return self._brightness
+
+	def setonoff(self,val):
+		if(val == -1):
+			self.setbrightness(100)  if self._brightness<50 else self.setbrightness(0) 
+		elif(val == 1):
+			self.setbrightness(100) 
+		elif(val == 0):
+			self.setbrightness(0) 
+			
+	def getonoff(self):
+		return True if self._brightness>0 else False
+		
+rled = LED(2)
+gled = LED(4)
+
+'''3-Motor'''
+class Motor:
+	def __init__(self, apin,bpin):
+		self._apin =PWM(Pin(apin),freq=5000,duty_u16=65535)
+		self._bpin =PWM(Pin(bpin),freq=5000,duty_u16=65535)
+		self.motion("P")
+		
+	def motion(self,action,speed=0):
+		if action=="N":
+			self._apin.duty_u16(0)
+			self._bpin.duty_u16(0)
+		elif action=="P":
+			self._apin.duty_u16(65535)
+			self._bpin.duty_u16(65535)
+		elif action=="CW":
+			if speed >=0:
+				self._apin.duty_u16(speed*65535//100)
+				self._bpin.duty_u16(0)
+			else:
+				self._apin.duty_u16(0)
+				self._bpin.duty_u16(-speed*65535//100)				
+		elif action=="CCW":
+			if speed >=0:
+				self._apin.duty_u16(0)
+				self._bpin.duty_u16(speed*65535//100)
+			else:
+				self._apin.duty_u16(-speed*65535//100)
+				self._bpin.duty_u16(0)			
+		else:
+			raise ValueError('Invalid input, valid are "N","P","CW","CCW"')
+
+motor1=Motor(23,27)
+motor2=Motor(18,19)
+motor3=Motor(13,14)
+
+'''Reclaim memory'''
+gc.collect()