初始化提交
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250
boards/default_src/micropython_esp32s2/origin/build/lib/ce_go.py
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250
boards/default_src/micropython_esp32s2/origin/build/lib/ce_go.py
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"""
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CE GO -Onboard resources
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MicroPython library for the CE GO (Smart Car base for MixGo CE)
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MicroPython library for the CE GO (Smart Car base for MixGo CE)
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=======================================================
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#Preliminary composition 20220830
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dahanzimin From the Mixly Team
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"""
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import time, gc, math
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from tm1931 import TM1931
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from machine import Pin, SoftI2C, ADC
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'''i2c-onboard'''
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i2c = SoftI2C(scl = Pin(4, pull=Pin.PULL_UP), sda = Pin(5, pull=Pin.PULL_UP), freq = 400000)
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i2c_scan = i2c.scan()
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'''Version judgment'''
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if 0x50 in i2c_scan:
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version = 1
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else:
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version = 0
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'''Judging the type of external motor'''
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Mi2c = 0
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for addr in i2c_scan:
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if addr in [0x30, 0x31, 0x32, 0x33]:
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Mi2c = addr
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break
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'''i2c-motor'''
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def i2c_motor(speed):
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i2c.writeto(Mi2c, b'\x00\x00' + speed.to_bytes(1, 'little') + b'\x00')
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'''TM1931-Expand'''
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class CAR(TM1931):
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'''Infrared line patrol obstacle avoidance mode'''
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CL=0 #Turn off infrared to reduce power consumption
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OA=1 #Obstacle avoidance mode only
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LP=2 #Line patrol mode only
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LS=3 #Light seeking mode only
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AS=4 #Automatic mode switching
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'''TM1931 port corresponding function definition'''
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OAOU=5 #obstacle avoidance
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LPOU=4 #Line patrol control
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LSOU=3 #Light control
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WLED=12 #Headlamp port
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GLED=[17,8,6,15] #Green LED port
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RLED=[16,7,9,18] #Red LED port
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UCOU=[1,2] #Typec external port
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MOTO=[[13,14],[10,11],[1,2]] #Motor port
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def __init__(self, i2c_bus):
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super().__init__(i2c_bus)
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self._mode = self.CL
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self.atten = 0.82 if version else 1
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self.adc0 = ADC(Pin(9), atten=ADC.ATTN_11DB)
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self.adc1 = ADC(Pin(10), atten=ADC.ATTN_11DB)
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self.adc2 = ADC(Pin(1), atten=ADC.ATTN_11DB)
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self.adc3 = ADC(Pin(2), atten=ADC.ATTN_11DB)
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def ir_mode(self, select=0):
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'''Infrared line patrol obstacle avoidance mode'''
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self._mode=select
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if select==self.CL:
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self.pwm(self.OAOU,0)
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self.pwm(self.LPOU,0)
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self.pwm(self.LSOU,0)
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if select==self.OA:
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self.pwm(self.OAOU,255)
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self.pwm(self.LPOU,0)
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self.pwm(self.LSOU,0)
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if select==self.LP:
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self.pwm(self.OAOU,0)
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self.pwm(self.LPOU,255)
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self.pwm(self.LSOU,0)
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if select==self.LS:
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self.pwm(self.OAOU,0)
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self.pwm(self.LPOU,0)
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self.pwm(self.LSOU,255)
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time.sleep_ms(2)
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def obstacle(self):
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'''Read the obstacle avoidance sensor'''
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if self._mode==self.AS:
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self.pwm(self.OAOU,255)
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self.pwm(self.LPOU,0)
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self.pwm(self.LSOU,0)
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time.sleep_ms(2)
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if self._mode==self.OA or self._mode==self.AS :
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return self.adc2.read_u16(),self.adc1.read_u16(),self.adc0.read_u16(),self.adc3.read_u16()
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else:
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raise ValueError('Mode selection error, obstacle avoidance data cannot be read')
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def patrol(self):
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'''Read the line patrol sensor'''
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if self._mode==self.AS:
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self.pwm(self.OAOU,0)
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self.pwm(self.LPOU,255)
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self.pwm(self.LSOU,0)
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time.sleep_ms(2)
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if self._mode==self.LP or self._mode==self.AS:
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return self.adc3.read_u16(),self.adc2.read_u16(),self.adc1.read_u16(),self.adc0.read_u16()
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else:
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raise ValueError('Mode selection error, line patrol data cannot be read')
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def light(self):
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'''Read the light seeking sensor'''
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if self._mode==self.AS:
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self.pwm(self.OAOU,0)
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self.pwm(self.LPOU,0)
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self.pwm(self.LSOU,255)
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time.sleep_ms(2)
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if self._mode==self.LS or self._mode==self.AS:
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return self.adc3.read_u16(),self.adc2.read_u16(),self.adc1.read_u16(),self.adc0.read_u16()
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else:
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raise ValueError('Mode selection error, light seeking data cannot be read')
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def motor(self, index, action, speed=0):
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speed = round(max(min(speed, 100), -100) * self.atten)
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if action=="N":
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if (index == [1, 2]) and Mi2c:
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i2c_motor(0)
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else:
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self.pwm(index[0], 255)
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self.pwm(index[1], 255)
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elif action=="P":
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if (index == [1, 2]) and Mi2c:
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i2c_motor(0)
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else:
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self.pwm(index[0], 0)
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self.pwm(index[1], 0)
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elif action=="CW":
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if (index == [1, 2]) and Mi2c:
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i2c_motor(speed)
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else:
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if speed >= 0:
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self.pwm(index[0], speed * 255 // 100)
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self.pwm(index[1], 0)
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else:
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self.pwm(index[0], 0)
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self.pwm(index[1], - speed * 255 // 100)
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elif action=="CCW":
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if (index == [1, 2]) and Mi2c:
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i2c_motor(- speed)
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else:
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if speed >= 0:
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self.pwm(index[0], 0)
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self.pwm(index[1], speed * 255 // 100)
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else:
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self.pwm(index[0], - speed * 255 // 100)
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self.pwm(index[1], 0)
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else:
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raise ValueError('Invalid input, valid are "N","P","CW","CCW"')
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def move(self,action,speed=100):
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if action=="N":
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self.motor(self.MOTO[0],"N")
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self.motor(self.MOTO[1],"N")
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elif action=="P":
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self.motor(self.MOTO[0],"P")
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self.motor(self.MOTO[1],"P")
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elif action=="F":
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self.motor(self.MOTO[0],"CCW",speed)
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self.motor(self.MOTO[1],"CW",speed)
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elif action=="B":
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self.motor(self.MOTO[0],"CW",speed)
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self.motor(self.MOTO[1],"CCW",speed)
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elif action=="L":
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self.motor(self.MOTO[0],"CW",speed)
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self.motor(self.MOTO[1],"CW",speed)
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elif action=="R":
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self.motor(self.MOTO[0],"CCW",speed)
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self.motor(self.MOTO[1],"CCW",speed)
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else:
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raise ValueError('Invalid input, valid are "N","P","F","B","L","R"')
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def setbrightness(self,index,val):
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if not 0 <= val <= 100:
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raise ValueError("Brightness must be in the range: 0-100%")
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self.pwm(index,val)
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def getrightness(self,index):
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return self.duty(index)
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def setonoff(self,index,val):
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if(val == -1):
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if self.getrightness(index) < 50:
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self.setbrightness(index,100)
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else:
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self.setbrightness(index,0)
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elif(val == 1):
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self.setbrightness(index,100)
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elif(val == 0):
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self.setbrightness(index,0)
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def getonoff(self,index):
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return True if self.getrightness(index)>0 else False
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try :
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car=CAR(i2c) #Including LED,motor,patrol,obstacle
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except Exception as e:
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print("Warning: Failed to communicate with TM1931 (ME GO CAR) or", e)
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'''2Hall_HEP'''
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class HALL:
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_pulse_turns=1/480 if version else 1/400 #圈数= 1/(减速比*磁极)
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_pulse_distance=_pulse_turns*math.pi*4.4 #距离= 圈数*π*轮胎直径
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def __init__(self, pin):
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self.turns = 0
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self.distance = 0 #cm
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self._speed = 0 #cm/s
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self._on_receive = None
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self._time = time.ticks_ms()
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Pin(pin, Pin.IN).irq(handler=self._receive_cb, trigger=(Pin.IRQ_RISING | Pin.IRQ_FALLING))
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def _receive_cb(self, event_source):
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self.turns += self._pulse_turns
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self.distance += self._pulse_distance
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self._speed += self._pulse_distance
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if self._on_receive:
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self._on_receive(round(self.turns, 2),round(self.distance, 2))
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def irq_cb(self, callback):
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self._on_receive = callback
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def initial(self, turns=None, distance=None):
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if not (turns is None):
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self.turns = turns
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if not (distance is None):
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self.distance = distance
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@property
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def speed(self):
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value=self._speed/time.ticks_diff(time.ticks_ms(), self._time)*1000 if self._speed>0 else 0
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self._time = time.ticks_ms()
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self._speed = 0
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return round(value, 2)
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hall_A = HALL(6)
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hall_B = HALL(7)
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'''Reclaim memory'''
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gc.collect()
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@@ -0,0 +1,243 @@
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"""
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MixGo CE-Onboard resources
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Micropython library for the MixGo CE-Onboard resources
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=======================================================
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#Preliminary composition 20220901
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dahanzimin From the Mixly Team
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"""
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import time,gc
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from machine import Pin,SoftI2C,ADC,PWM,RTC
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from ws2812 import NeoPixel
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from music import MIDI
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'''RTC'''
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rtc_clock=RTC()
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'''i2c-onboard'''
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onboard_i2c=SoftI2C(scl = Pin(41), sda = Pin(42), freq = 400000)
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onboard_i2c_scan = onboard_i2c.scan()
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'''Version judgment'''
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if 0x15 in onboard_i2c_scan:
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version=1
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elif 0x26 in onboard_i2c_scan:
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version=0
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else:
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print("Warning: Mixgo CE board is not detected, which may cause usage errors")
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'''Matrix16x8'''
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try :
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import matrix16x8
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onboard_matrix = matrix16x8.Matrix(onboard_i2c)
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except Exception as e:
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print("Warning: Failed to communicate with Matrix16x8 or",e)
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'''6-Button'''
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class Button:
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def __init__(self, pin):
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self._pin = Pin(pin, Pin.IN, Pin.PULL_UP)
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self._flag = True
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def get_presses(self, delay = 1):
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last_time,presses = time.time(), 0
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while time.time() < last_time + delay:
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time.sleep(0.05)
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if self.was_pressed():
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presses += 1
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return presses
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def is_pressed(self):
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return self._pin.value() == False
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def was_pressed(self):
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if self._pin.value() != self._flag:
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time.sleep(0.01)
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self._flag = self._pin.value()
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if self._flag:
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return False
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else:
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return True
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def irq(self, handler, trigger):
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self._pin.irq(handler = handler, trigger = trigger)
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A1key = Button(14)
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A2key = Button(21)
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A3key = Button(36)
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A4key = Button(37)
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B1key = Button(0)
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B2key = Button(35)
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'''4-TouchPad'''
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class Touch_Pad:
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_pins = [4, 5, 6, 7]
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__species = {}
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__first_init = True
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def __new__(cls, pin, *args, **kwargs):
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if pin not in cls.__species.keys():
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cls.__first_init = True
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cls.__species[pin]=object.__new__(cls)
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return cls.__species[pin]
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def __init__(self, pin):
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if self.__first_init:
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self.__first_init = False
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from machine import TouchPad
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self._pin = TouchPad(Pin(self._pins[pin]))
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def is_touched(self,value):
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return self._pin.read() > value
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def raw_value(self):
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return self._pin.read()
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#Touch with function call
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def touched(pin,value=33000):
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return Touch_Pad(pin).is_touched(value) if value else Touch_Pad(pin).raw_value()
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'''2-LED''' #Modify indexing method
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class LED:
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def __init__(self, pins=[]):
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self._pins = [PWM(Pin(pin), duty_u16=65535) for pin in pins]
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self._brightness = [0 for _ in range(len(self._pins))]
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def setbrightness(self, index, val):
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if not 0 <= val <= 100:
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raise ValueError("Brightness must be in the range: 0-100%")
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self._brightness[index - 1] = val
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self._pins[index - 1].duty_u16(65535 - val * 65535 // 100)
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def getbrightness(self, index):
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return self._brightness[index - 1]
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def setonoff(self, index, val):
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if val == -1:
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self.setbrightness(index, 100) if self.getbrightness(index) < 50 else self.setbrightness(index, 0)
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elif val == 1:
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self.setbrightness(index, 100)
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elif val == 0:
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self.setbrightness(index, 0)
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def getonoff(self, index):
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return True if self.getbrightness(index) > 50 else False
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onboard_led = LED(pins=[33, 34])
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'''MIC_Sensor'''
|
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class MICSensor:
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def __init__(self, pin):
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self.adc=ADC(Pin(pin))
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self.adc.atten(ADC.ATTN_11DB)
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||||
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def read(self):
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maxloudness = 0
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for i in range(5):
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loudness = self.sample()
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if loudness > maxloudness:
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maxloudness = loudness
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return maxloudness
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def sample(self):
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values = []
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for i in range(50):
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val = self.adc.read_u16()
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values.append(val)
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return max(values) - min(values)
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onboard_sound = MICSensor(13)
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|
||||
'''3-ADCSensor'''
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class ADCSensor:
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__species = {}
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__first_init = True
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def __new__(cls, pin, *args, **kwargs):
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||||
if pin not in cls.__species.keys():
|
||||
cls.__first_init = True
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||||
cls.__species[pin]=object.__new__(cls)
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return cls.__species[pin]
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||||
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||||
def __init__(self, pin):
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if self.__first_init:
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self.__first_init = False
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self._adc=ADC(Pin(pin))
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self._adc.atten(ADC.ATTN_11DB)
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self._switch = Pin(39, Pin.OUT)
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def read(self):
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return self._adc.read_u16()
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def switch(self,val):
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self._switch.value(val)
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||||
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||||
def get_brightness():
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return ADCSensor(15).read()
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||||
|
||||
'''Function definition of different versions'''
|
||||
if version==0:
|
||||
'''ACC-Sensor'''
|
||||
try:
|
||||
import msa301
|
||||
onboard_acc = msa301.MSA301(onboard_i2c,front=True)
|
||||
except Exception as e:
|
||||
print("Warning: Failed to communicate with MSA301 or",e)
|
||||
|
||||
'''4-RGB'''
|
||||
if Pin(40, Pin.IN).value():
|
||||
onboard_rgb = NeoPixel(Pin(8), 4)
|
||||
else:
|
||||
onboard_rgb = NeoPixel(Pin(8), 4, ORDER=(0, 1, 2, 3))
|
||||
|
||||
'''1Buzzer-Music'''
|
||||
Pin(40, Pin.OUT).value(1)
|
||||
onboard_music =MIDI(17)
|
||||
|
||||
'''temperature'''
|
||||
def get_temperature():
|
||||
adc_val = ADCSensor(16).read()
|
||||
return adc_val * 3.9 / 5900
|
||||
|
||||
def infrared_left():
|
||||
print("Warning: Old version, without this function")
|
||||
|
||||
def infrared_right():
|
||||
print("Warning: Old version, without this function")
|
||||
|
||||
if version==1:
|
||||
'''ACC-Sensor'''
|
||||
try:
|
||||
import mxc6655xa
|
||||
onboard_acc = mxc6655xa.MXC6655XA(onboard_i2c,front=True)
|
||||
|
||||
'''temperature'''
|
||||
def get_temperature():
|
||||
return onboard_acc.temperature()
|
||||
|
||||
except Exception as e:
|
||||
print("Warning: Failed to communicate with MXC6655XA or",e)
|
||||
|
||||
'''4-RGB'''
|
||||
onboard_rgb = NeoPixel(Pin(8), 4)
|
||||
|
||||
'''1Buzzer-Music'''
|
||||
onboard_music =MIDI(40)
|
||||
|
||||
def infrared_left():
|
||||
ADCSensor(3).switch(1)
|
||||
time.sleep(0.01)
|
||||
adc=ADCSensor(3).read()
|
||||
ADCSensor(3).switch(0)
|
||||
return adc
|
||||
|
||||
def infrared_right():
|
||||
ADCSensor(16).switch(1)
|
||||
time.sleep(0.01)
|
||||
adc=ADCSensor(16).read()
|
||||
ADCSensor(16).switch(0)
|
||||
return adc
|
||||
|
||||
'''Reclaim memory'''
|
||||
gc.collect()
|
||||
Reference in New Issue
Block a user