初始化提交

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()