修复 特殊板子RGB反电平驱动固件向上兼容问题
This commit is contained in:
dahanzimin
@@ -1,354 +1,354 @@
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"""
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"""
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Mixbot-Onboard resources
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Mixbot-Onboard resources
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Micropython library for the Mixbot-Onboard resources
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Micropython library for the Mixbot-Onboard resources
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=======================================================
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=======================================================
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@dahanzimin From the Mixly Team
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@dahanzimin From the Mixly Team
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"""
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"""
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import time, gc, random, uframebuf
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import time, gc, random, uframebuf
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from micropython import const
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from micropython import const
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from machine import Pin, SoftI2C, ADC, PWM, RTC
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from machine import Pin, SoftI2C, ADC, PWM, RTC
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'''RTC'''
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'''RTC'''
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rtc_clock=RTC()
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rtc_clock=RTC()
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'''2RGB_WS2812'''
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'''2RGB_WS2812'''
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from ws2812 import NeoPixel
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from ws2812 import NeoPixel
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onboard_rgb = NeoPixel(Pin(12), 2, default=1)
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onboard_rgb = NeoPixel(Pin(12), 2, default=1, timing=(450, 900, 850, 500))
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'''1Buzzer-Music'''
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'''1Buzzer-Music'''
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from music import MIDI
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from music import MIDI
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onboard_music =MIDI(25)
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onboard_music =MIDI(25)
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spk_en = Pin(27, Pin.OUT)
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spk_en = Pin(27, Pin.OUT)
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spk_en.value(0)
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spk_en.value(0)
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'''i2c-onboard & ext'''
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'''i2c-onboard & ext'''
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class I2C_device(SoftI2C):
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class I2C_device(SoftI2C):
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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$\xf8\xa6D\x1a\x99\xc7%{:d\x86\xd8[\x05\xe7\xb9\x8c\xd20n\xed\xb3Q\x0fN\x10\xf2\xac/q\x93\xcd\x11O\xad\xf3p.\xcc\x92\xd3\x8do1\xb2\xec\x0eP\xaf\xf1\x13M\xce\x90r,m3\xd1\x8f\x0cR\xb0\xee2l\x8e\xd0S\r\xef\xb1\xf0\xaeL\x12\x91\xcf-s\xca\x94v(\xab\xf5\x17I\x08V\xb4\xeai7\xd5\x8bW\t\xeb\xb56h\x8a\xd4\x95\xcb)w\xf4\xaaH\x16\xe9\xb7U\x0b\x88\xd64j+u\x97\xc9J\x14\xf6\xa8t*\xc8\x96\x15K\xa9\xf7\xb6\xe8\nT\xd7\x89k5'
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CRC8_Table =b'\x00^\xbc\xe2a?\xdd\x83\xc2\x9c~ \xa3\xfd\x1fA\x9d\xc3!\x7f\xfc\xa2@\x1e_\x01\xe3\xbd>`\x82\xdc#}\x9f\xc1B\x1c\xfe\xa0\xe1\xbf]\x03\x80\xde<b\xbe\xe0\x02\\\xdf\x81c=|"\xc0\x9e\x1dC\xa1\xffF\x18\xfa\xa4\'y\x9b\xc5\x84\xda8f\xe5\xbbY\x07\xdb\x85g9\xba\xe4\x06X\x19G\xa5\xfbx&\xc4\x9ae;\xd9\x87\x04Z\xb8\xe6\xa7\xf9\x1bE\xc6\x98z$\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'
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def _crc8(self, buf):
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def _crc8(self, buf):
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_sum = 0
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_sum = 0
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for i in range(0, len(buf)):
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for i in range(0, len(buf)):
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_sum = self.CRC8_Table[_sum ^ buf[i]]
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_sum = self.CRC8_Table[_sum ^ buf[i]]
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return _sum
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return _sum
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def read_device(self, addr, cmd, nbytes=1):
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def read_device(self, addr, cmd, nbytes=1):
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buf = self.readfrom_mem(addr, cmd, nbytes+2)
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buf = self.readfrom_mem(addr, cmd, nbytes+2)
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if self._crc8(buf[:-1]) == buf[-1]:
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if self._crc8(buf[:-1]) == buf[-1]:
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return buf[1] if nbytes<=1 else buf[1:-1]
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return buf[1] if nbytes<=1 else buf[1:-1]
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def write_device(self, addr, cmd, buf=0):
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def write_device(self, addr, cmd, buf=0):
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buf = buf.to_bytes(1, 'little') if type(buf) is int else buf
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buf = buf.to_bytes(1, 'little') if type(buf) is int else buf
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buf = bytearray([cmd, random.randint(0, 255)]) + buf
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buf = bytearray([cmd, random.randint(0, 255)]) + buf
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crc8 = self._crc8(buf).to_bytes(1, 'little')
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crc8 = self._crc8(buf).to_bytes(1, 'little')
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self.writeto(addr, buf + crc8)
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self.writeto(addr, buf + crc8)
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if crc8 == self.readfrom(addr, 1):
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if crc8 == self.readfrom(addr, 1):
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return True
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return True
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onboard_i2c = I2C_device(scl=Pin(18), sda=Pin(23) , freq=400000)
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onboard_i2c = I2C_device(scl=Pin(18), sda=Pin(23) , freq=400000)
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ext_i2c = I2C_device(scl=Pin(22), sda=Pin(21), freq=200000)
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ext_i2c = I2C_device(scl=Pin(22), sda=Pin(21), freq=200000)
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'''Version judgment'''
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'''Version judgment'''
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if 0x68 in onboard_i2c.scan():
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if 0x68 in onboard_i2c.scan():
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version=1
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version=1
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else:
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else:
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version=0
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version=0
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'''Accelerometer+Gyroscope'''
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'''Accelerometer+Gyroscope'''
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if version:
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if version:
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import icm42670
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import icm42670
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acc_gyr = icm42670.ICM42670(onboard_i2c)
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acc_gyr = icm42670.ICM42670(onboard_i2c)
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'''2-Button'''
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'''2-Button'''
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class Button:
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class Button:
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def __init__(self, pin, level=True):
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def __init__(self, pin, level=True):
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self._pin = Pin(pin, Pin.IN)
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self._pin = Pin(pin, Pin.IN)
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self._flag = True
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self._flag = True
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self._level = level
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self._level = level
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def get_presses(self, delay = 1):
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def get_presses(self, delay = 1):
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last_time,presses = time.time(), 0
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last_time,presses = time.time(), 0
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while time.time() < last_time + delay:
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while time.time() < last_time + delay:
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time.sleep(0.05)
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time.sleep(0.05)
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if self.was_pressed():
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if self.was_pressed():
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presses += 1
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presses += 1
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return presses
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return presses
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def is_pressed(self):
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def is_pressed(self):
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return self._pin.value() == self._level
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return self._pin.value() == self._level
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def was_pressed(self):
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def was_pressed(self):
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if self._pin.value() != self._flag:
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if self._pin.value() != self._flag:
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time.sleep(0.01)
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time.sleep(0.01)
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self._flag = self._pin.value()
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self._flag = self._pin.value()
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return self._level if self._flag else not self._level
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return self._level if self._flag else not self._level
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def irq(self, handler, trigger):
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def irq(self, handler, trigger):
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self._pin.irq(handler = handler, trigger = trigger)
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self._pin.irq(handler = handler, trigger = trigger)
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button_p = Button(34, True)
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button_p = Button(34, True)
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button_a = Button(35, False)
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button_a = Button(35, False)
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button_b = Button(39, False)
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button_b = Button(39, False)
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'''2-LED'''
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'''2-LED'''
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class LED:
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class LED:
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def __init__(self, pin):
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def __init__(self, pin):
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self._pin =PWM(Pin(pin), freq=5000, duty_u16=65535)
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self._pin =PWM(Pin(pin), freq=5000, duty_u16=65535)
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self.setbrightness(0)
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self.setbrightness(0)
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def setbrightness(self,val):
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def setbrightness(self,val):
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if not 0 <= val <= 100:
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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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raise ValueError("Brightness must be in the range: 0-100%")
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self._brightness=val
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self._brightness=val
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self._pin.duty_u16(val * 65535 // 100)
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self._pin.duty_u16(val * 65535 // 100)
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def getbrightness(self):
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def getbrightness(self):
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return self._brightness
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return self._brightness
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def setonoff(self,val):
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def setonoff(self,val):
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if(val == -1):
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if(val == -1):
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self.setbrightness(100) if self._brightness < 50 else self.setbrightness(0)
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self.setbrightness(100) if self._brightness < 50 else self.setbrightness(0)
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elif(val == 1):
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elif(val == 1):
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self.setbrightness(100)
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self.setbrightness(100)
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elif(val == 0):
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elif(val == 0):
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self.setbrightness(0)
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self.setbrightness(0)
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def getonoff(self):
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def getonoff(self):
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return True if self._brightness > 0 else False
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return True if self._brightness > 0 else False
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def value(self,val=None):
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def value(self,val=None):
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if val is None:
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if val is None:
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return self.getonoff()
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return self.getonoff()
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else:
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else:
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self.setbrightness(100) if val else self.setbrightness(0)
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self.setbrightness(100) if val else self.setbrightness(0)
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rled = LED(2)
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rled = LED(2)
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gled = LED(4)
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gled = LED(4)
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'''3-ADCSensor'''
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'''3-ADCSensor'''
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class ADCSensor:
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class ADCSensor:
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def __init__(self, pin):
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def __init__(self, pin):
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self.adc=ADC(Pin(pin))
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self.adc=ADC(Pin(pin))
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self.adc.atten(ADC.ATTN_11DB)
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self.adc.atten(ADC.ATTN_11DB)
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def read(self):
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def read(self):
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return self.adc.read_u16()
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return self.adc.read_u16()
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def voltage(self, scale=4.6):
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def voltage(self, scale=4.6):
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return round(self.adc.read_uv() * scale / 1000000, 2)
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return round(self.adc.read_uv() * scale / 1000000, 2)
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def loudness(self):
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def loudness(self):
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values = []
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values = []
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for i in range(200):
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for i in range(200):
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val = self.adc.read_u16()
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val = self.adc.read_u16()
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values.append(val)
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values.append(val)
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return max(values) - min(values)
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return max(values) - min(values)
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adc1 = ADCSensor(33)
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adc1 = ADCSensor(33)
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adc2 = ADCSensor(32)
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adc2 = ADCSensor(32)
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battery = ADCSensor(36)
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battery = ADCSensor(36)
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sound = ADCSensor(38)
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sound = ADCSensor(38)
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'''4-FindLine /i2c'''
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'''4-FindLine /i2c'''
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class FindLine(object):
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class FindLine(object):
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CORRECTING_WHITE = const(0x01)
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CORRECTING_WHITE = const(0x01)
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CORRECTING_BLACK = const(0x02)
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CORRECTING_BLACK = const(0x02)
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CORRECTING_RESET_TO_FAB = const(0x04)
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CORRECTING_RESET_TO_FAB = const(0x04)
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def __init__(self, i2c_bus, addr=0x01):
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def __init__(self, i2c_bus, addr=0x01):
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self._i2c = i2c_bus
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self._i2c = i2c_bus
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self._addr = addr
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self._addr = addr
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self._data = (0,0,0,0)
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self._data = (0,0,0,0)
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def getdata(self):
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def getdata(self):
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_buf = self._i2c.read_device(self._addr, 0x10, 4)
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_buf = self._i2c.read_device(self._addr, 0x10, 4)
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if _buf:
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if _buf:
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self._data = tuple(_buf)
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self._data = tuple(_buf)
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return self._data
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return self._data
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def correct(self,type):
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def correct(self,type):
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'''type 0x01 校正白色 0x02 校正黑色 0x04 恢复出厂 '''
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'''type 0x01 校正白色 0x02 校正黑色 0x04 恢复出厂 '''
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if type not in [CORRECTING_WHITE, CORRECTING_BLACK, CORRECTING_RESET_TO_FAB]:
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if type not in [CORRECTING_WHITE, CORRECTING_BLACK, CORRECTING_RESET_TO_FAB]:
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raise ValueError('Invalid parameter')
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raise ValueError('Invalid parameter')
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self._i2c.write_device(self._addr, 0xA0, type)
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self._i2c.write_device(self._addr, 0xA0, type)
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patrol = FindLine(onboard_i2c)
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patrol = FindLine(onboard_i2c)
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'''4-LEDmatrix /i2c'''
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'''4-LEDmatrix /i2c'''
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class Matrix5x5(uframebuf.FrameBuffer_Ascall):
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class Matrix5x5(uframebuf.FrameBuffer_Ascall):
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"""Graph module 5x5"""
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"""Graph module 5x5"""
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HEART = b'\n\x1f\x1f\x0e\x04'
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HEART = b'\n\x1f\x1f\x0e\x04'
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HEART_SMALL = b'\x00\n\x0e\x04\x00'
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HEART_SMALL = b'\x00\n\x0e\x04\x00'
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HAPPY = b'\x00\n\x00\x11\x0e'
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HAPPY = b'\x00\n\x00\x11\x0e'
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SAD = b'\x00\n\x00\x0e\x11'
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SAD = b'\x00\n\x00\x0e\x11'
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SMILE = b'\x00\x00\x00\x11\x0e'
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SMILE = b'\x00\x00\x00\x11\x0e'
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SILLY = b'\x11\x00\x1f\x14\x1c'
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SILLY = b'\x11\x00\x1f\x14\x1c'
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FABULOUS = b'\x1f\x1b\x00\n\x0e'
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FABULOUS = b'\x1f\x1b\x00\n\x0e'
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SURPRISED = b'\n\x00\x04\n\x04'
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SURPRISED = b'\n\x00\x04\n\x04'
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ASLEEP = b'\x00\x1b\x00\x0e\x00'
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ASLEEP = b'\x00\x1b\x00\x0e\x00'
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ANGRY = b'\x11\n\x00\x1f\x15'
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ANGRY = b'\x11\n\x00\x1f\x15'
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CONFUSED = b'\x00\n\x00\n\x15'
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CONFUSED = b'\x00\n\x00\n\x15'
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NO = b'\x11\n\x04\n\x11'
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NO = b'\x11\n\x04\n\x11'
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YES = b'\x00\x10\x08\x05\x02'
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YES = b'\x00\x10\x08\x05\x02'
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LEFT_ARROW = b'\x04\x02\x1f\x02\x04'
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LEFT_ARROW = b'\x04\x02\x1f\x02\x04'
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RIGHT_ARROW = b'\x04\x08\x1f\x08\x04'
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RIGHT_ARROW = b'\x04\x08\x1f\x08\x04'
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DRESS = b'\n\x1b\x0e\x0e\x1f'
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DRESS = b'\n\x1b\x0e\x0e\x1f'
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TRANSFORMERS = b'\x04\x0e\x15\n\x11'
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TRANSFORMERS = b'\x04\x0e\x15\n\x11'
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SCISSORS = b'\x13\x0b\x04\x0b\x13'
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SCISSORS = b'\x13\x0b\x04\x0b\x13'
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EXIT = b'\x04\x0e\x15\x0b\x10'
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EXIT = b'\x04\x0e\x15\x0b\x10'
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TREE = b'\x04\x0e\x1f\x04\x04'
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TREE = b'\x04\x0e\x1f\x04\x04'
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PACMAN = b'\x1e\x0b\x07\x0f\x1e'
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PACMAN = b'\x1e\x0b\x07\x0f\x1e'
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TARGET = b'\x04\x0e\x1b\x0e\x04'
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TARGET = b'\x04\x0e\x1b\x0e\x04'
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TSHIRT = b'\x1b\x1f\x0e\x0e\x0e'
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TSHIRT = b'\x1b\x1f\x0e\x0e\x0e'
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ROLLERSKATE = b'\x18\x18\x1f\x1f\n'
|
ROLLERSKATE = b'\x18\x18\x1f\x1f\n'
|
||||||
DUCK = b'\x06\x07\x1e\x0e\x00'
|
DUCK = b'\x06\x07\x1e\x0e\x00'
|
||||||
HOUSE = b'\x04\x0e\x1f\x0e\n'
|
HOUSE = b'\x04\x0e\x1f\x0e\n'
|
||||||
TORTOISE = b'\x00\x0e\x1f\n\x00'
|
TORTOISE = b'\x00\x0e\x1f\n\x00'
|
||||||
BUTTERFLY = b'\x1b\x1f\x04\x1f\x1b'
|
BUTTERFLY = b'\x1b\x1f\x04\x1f\x1b'
|
||||||
STICKFIGURE = b'\x04\x1f\x04\n\x11'
|
STICKFIGURE = b'\x04\x1f\x04\n\x11'
|
||||||
GHOST = b'\x1f\x15\x1f\x1f\x15'
|
GHOST = b'\x1f\x15\x1f\x1f\x15'
|
||||||
PITCHFORK = b'\x15\x15\x1f\x04\x04'
|
PITCHFORK = b'\x15\x15\x1f\x04\x04'
|
||||||
MUSIC_QUAVERS = b'\x1e\x12\x12\x1b\x1b'
|
MUSIC_QUAVERS = b'\x1e\x12\x12\x1b\x1b'
|
||||||
MUSIC_QUAVER = b'\x04\x0c\x14\x07\x07'
|
MUSIC_QUAVER = b'\x04\x0c\x14\x07\x07'
|
||||||
MUSIC_CROTCHET = b'\x04\x04\x04\x07\x07'
|
MUSIC_CROTCHET = b'\x04\x04\x04\x07\x07'
|
||||||
COW = b'\x11\x11\x1f\x0e\x04'
|
COW = b'\x11\x11\x1f\x0e\x04'
|
||||||
RABBIT = b'\x05\x05\x0f\x0b\x0f'
|
RABBIT = b'\x05\x05\x0f\x0b\x0f'
|
||||||
SQUARE_SMALL = b'\x00\x0e\n\x0e\x00'
|
SQUARE_SMALL = b'\x00\x0e\n\x0e\x00'
|
||||||
SQUARE = b'\x1f\x11\x11\x11\x1f'
|
SQUARE = b'\x1f\x11\x11\x11\x1f'
|
||||||
DIAMOND_SMALL = b'\x00\x04\n\x04\x00'
|
DIAMOND_SMALL = b'\x00\x04\n\x04\x00'
|
||||||
DIAMOND = b'\x04\n\x11\n\x04'
|
DIAMOND = b'\x04\n\x11\n\x04'
|
||||||
CHESSBOARD = b'\n\x15\n\x15\n'
|
CHESSBOARD = b'\n\x15\n\x15\n'
|
||||||
TRIANGLE_LEFT = b'\x01\x03\x05\t\x1f'
|
TRIANGLE_LEFT = b'\x01\x03\x05\t\x1f'
|
||||||
TRIANGLE = b'\x00\x04\n\x1f\x00'
|
TRIANGLE = b'\x00\x04\n\x1f\x00'
|
||||||
SNAKE = b'\x03\x1b\n\x0e\x00'
|
SNAKE = b'\x03\x1b\n\x0e\x00'
|
||||||
UMBRELLA = b'\x0e\x1f\x04\x05\x06'
|
UMBRELLA = b'\x0e\x1f\x04\x05\x06'
|
||||||
SKULL = b'\x0e\x15\x1f\x0e\x0e'
|
SKULL = b'\x0e\x15\x1f\x0e\x0e'
|
||||||
GIRAFFE = b'\x03\x02\x02\x0e\n'
|
GIRAFFE = b'\x03\x02\x02\x0e\n'
|
||||||
SWORD = b'\x04\x04\x04\x0e\x04'
|
SWORD = b'\x04\x04\x04\x0e\x04'
|
||||||
|
|
||||||
|
|
||||||
def __init__(self, i2c_bus, addr=0x03, brightness=0.5):
|
def __init__(self, i2c_bus, addr=0x03, brightness=0.5):
|
||||||
self._i2c = i2c_bus
|
self._i2c = i2c_bus
|
||||||
self._addr = addr
|
self._addr = addr
|
||||||
self._brightness= brightness
|
self._brightness= brightness
|
||||||
self._buffer = bytearray(5)
|
self._buffer = bytearray(5)
|
||||||
super().__init__(self._buffer, 5, 5, uframebuf.MONO_HMSB)
|
super().__init__(self._buffer, 5, 5, uframebuf.MONO_HMSB)
|
||||||
self.font("5x5")
|
self.font("5x5")
|
||||||
self.screenbright(self._brightness)
|
self.screenbright(self._brightness)
|
||||||
self.clear()
|
self.clear()
|
||||||
|
|
||||||
def screenbright(self, brightness=None, background=0):
|
def screenbright(self, brightness=None, background=0):
|
||||||
if brightness is None :
|
if brightness is None :
|
||||||
return self._brightness
|
return self._brightness
|
||||||
else:
|
else:
|
||||||
if not 0.0 <= brightness <= 1.0:
|
if not 0.0 <= brightness <= 1.0:
|
||||||
raise ValueError("Brightness must be a decimal number in the range: 0.0-1.0")
|
raise ValueError("Brightness must be a decimal number in the range: 0.0-1.0")
|
||||||
self._brightness = brightness
|
self._brightness = brightness
|
||||||
self._i2c.write_device(self._addr, 0xA5, bytes([round(255 * brightness), round(255 * background)]))
|
self._i2c.write_device(self._addr, 0xA5, bytes([round(255 * brightness), round(255 * background)]))
|
||||||
|
|
||||||
def ambientbright(self):
|
def ambientbright(self):
|
||||||
bright = self._i2c.read_device(self._addr, 0x10)
|
bright = self._i2c.read_device(self._addr, 0x10)
|
||||||
if bright:
|
if bright:
|
||||||
return bright
|
return bright
|
||||||
|
|
||||||
def direction(self,mode = 0):
|
def direction(self,mode = 0):
|
||||||
'''set display direction '''
|
'''set display direction '''
|
||||||
self._i2c.write_device(self._addr, 0xA7, mode)
|
self._i2c.write_device(self._addr, 0xA7, mode)
|
||||||
|
|
||||||
def show(self):
|
def show(self):
|
||||||
'''Refresh the display and show the changes'''
|
'''Refresh the display and show the changes'''
|
||||||
buf = bytearray(4)
|
buf = bytearray(4)
|
||||||
buf[0] = (self._buffer[4] & 0xF0) >> 4
|
buf[0] = (self._buffer[4] & 0xF0) >> 4
|
||||||
buf[1] = (self._buffer[3] & 0x1E) >> 1 | (self._buffer[4] & 0x0F) << 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[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
|
buf[3] = (self._buffer[0] & 0x1F) | (self._buffer[1] & 0x07) << 5
|
||||||
self._i2c.write_device(self._addr, 0xA1, buf)
|
self._i2c.write_device(self._addr, 0xA1, buf)
|
||||||
|
|
||||||
def clear(self):
|
def clear(self):
|
||||||
''' clear display'''
|
''' clear display'''
|
||||||
self._i2c.write_device(self._addr, 0xA6)
|
self._i2c.write_device(self._addr, 0xA6)
|
||||||
|
|
||||||
onboard_matrix = Matrix5x5(onboard_i2c)
|
onboard_matrix = Matrix5x5(onboard_i2c)
|
||||||
|
|
||||||
'''2 Motor /i2c'''
|
'''2 Motor /i2c'''
|
||||||
class Motor(object):
|
class Motor(object):
|
||||||
|
|
||||||
STOP_MODE = const(0x00)
|
STOP_MODE = const(0x00)
|
||||||
BRAKE_MODE = const(0x01)
|
BRAKE_MODE = const(0x01)
|
||||||
PWR_MODE = const(0x02)
|
PWR_MODE = const(0x02)
|
||||||
SPEED_MODE = const(0x03)
|
SPEED_MODE = const(0x03)
|
||||||
TURNS_MODE = const(0x04)
|
TURNS_MODE = const(0x04)
|
||||||
|
|
||||||
def __init__(self, i2c_bus, addr=0x02, scale=90 * 4):
|
def __init__(self, i2c_bus, addr=0x02, scale=90 * 4):
|
||||||
self._i2c = i2c_bus
|
self._i2c = i2c_bus
|
||||||
self._addr = addr
|
self._addr = addr
|
||||||
self._scale = scale
|
self._scale = scale
|
||||||
self._signala = PWM(Pin(13), freq=500, duty_u16=49150)
|
self._signala = PWM(Pin(13), freq=500, duty_u16=49150)
|
||||||
self._signalb = PWM(Pin(14), 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._status = ((0,0,0,0), (0,0,0,0))
|
||||||
self._motor = ([0,0], [0,0])
|
self._motor = ([0,0], [0,0])
|
||||||
|
|
||||||
def _u2s(self, value, n=8):
|
def _u2s(self, value, n=8):
|
||||||
return value if value < (1 << (n-1)) else value - (1 << n)
|
return value if value < (1 << (n-1)) else value - (1 << n)
|
||||||
|
|
||||||
def status(self):
|
def status(self):
|
||||||
_buf = self._i2c.read_device(self._addr, 0x10, 9)
|
_buf = self._i2c.read_device(self._addr, 0x10, 9)
|
||||||
if _buf:
|
if _buf:
|
||||||
self._status = ((_buf[0] >> 4, -self._u2s(_buf[1]), -self._u2s(_buf[3]), abs(self._u2s(_buf[6] << 8 | _buf[5], 16))),
|
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))))
|
(_buf[0] & 0x0F, self._u2s(_buf[2]), self._u2s(_buf[4]), abs(self._u2s(_buf[8] << 8 | _buf[7], 16))))
|
||||||
return self._status
|
return self._status
|
||||||
|
|
||||||
def run(self, idx, mode, value):
|
def run(self, idx, mode, value):
|
||||||
if idx == 1 or idx == 2:
|
if idx == 1 or idx == 2:
|
||||||
self._motor[idx-1][0], self._motor[idx-1][1] = mode, value
|
self._motor[idx-1][0], self._motor[idx-1][1] = mode, value
|
||||||
else:
|
else:
|
||||||
self._motor = ([mode, value], [mode, value])
|
self._motor = ([mode, value], [mode, value])
|
||||||
|
|
||||||
buf = bytearray(5)
|
buf = bytearray(5)
|
||||||
m1_pwr_speed, m2_pwr_speed = 0, 0
|
m1_pwr_speed, m2_pwr_speed = 0, 0
|
||||||
buf[0] = (self._motor[0][0] << 4) | self._motor[1][0]
|
buf[0] = (self._motor[0][0] << 4) | self._motor[1][0]
|
||||||
if self._motor[0][0] == self.TURNS_MODE:
|
if self._motor[0][0] == self.TURNS_MODE:
|
||||||
_turns = round(self._motor[0][1] * self._scale)
|
_turns = round(self._motor[0][1] * self._scale)
|
||||||
buf[1] = (- _turns) & 0xFF
|
buf[1] = (- _turns) & 0xFF
|
||||||
buf[2] = ((- _turns) >> 8) & 0xFF
|
buf[2] = ((- _turns) >> 8) & 0xFF
|
||||||
else:
|
else:
|
||||||
m1_pwr_speed = - max(min(self._motor[0][1], 100), -100)
|
m1_pwr_speed = - max(min(self._motor[0][1], 100), -100)
|
||||||
if self._motor[1][0] == self.TURNS_MODE:
|
if self._motor[1][0] == self.TURNS_MODE:
|
||||||
_turns = round(self._motor[1][1] * self._scale)
|
_turns = round(self._motor[1][1] * self._scale)
|
||||||
buf[3] = _turns & 0xFF
|
buf[3] = _turns & 0xFF
|
||||||
buf[4] = (_turns >> 8) & 0xFF
|
buf[4] = (_turns >> 8) & 0xFF
|
||||||
else:
|
else:
|
||||||
m2_pwr_speed = max(min(self._motor[1][1], 100), -100)
|
m2_pwr_speed = max(min(self._motor[1][1], 100), -100)
|
||||||
|
|
||||||
self._i2c.write_device(self._addr, 0xA0, buf)
|
self._i2c.write_device(self._addr, 0xA0, buf)
|
||||||
self._signala.duty_u16(33422 + 31457 * (m1_pwr_speed + 100) // 200)
|
self._signala.duty_u16(33422 + 31457 * (m1_pwr_speed + 100) // 200)
|
||||||
self._signalb.duty_u16(33422 + 31457 * (m2_pwr_speed + 100) // 200)
|
self._signalb.duty_u16(33422 + 31457 * (m2_pwr_speed + 100) // 200)
|
||||||
|
|
||||||
def move(self, action, mode, value=100):
|
def move(self, action, mode, value=100):
|
||||||
if action=="N":
|
if action=="N":
|
||||||
self.run(0, self.STOP_MODE, 0)
|
self.run(0, self.STOP_MODE, 0)
|
||||||
elif action=="P":
|
elif action=="P":
|
||||||
self.run(0, self.BRAKE_MODE, 0)
|
self.run(0, self.BRAKE_MODE, 0)
|
||||||
elif action=="F":
|
elif action=="F":
|
||||||
self.run(0, mode, value)
|
self.run(0, mode, value)
|
||||||
elif action=="B":
|
elif action=="B":
|
||||||
self.run(0, mode, -value)
|
self.run(0, mode, -value)
|
||||||
elif action=="L":
|
elif action=="L":
|
||||||
self.run(1, mode, -value)
|
self.run(1, mode, -value)
|
||||||
self.run(2, mode, value)
|
self.run(2, mode, value)
|
||||||
elif action=="R":
|
elif action=="R":
|
||||||
self.run(1, mode, value)
|
self.run(1, mode, value)
|
||||||
self.run(2, mode, -value)
|
self.run(2, mode, -value)
|
||||||
else:
|
else:
|
||||||
raise ValueError('Invalid input, valid are "N","P","F","B","L","R"')
|
raise ValueError('Invalid input, valid are "N","P","F","B","L","R"')
|
||||||
|
|
||||||
motor = Motor(onboard_i2c)
|
motor = Motor(onboard_i2c)
|
||||||
|
|
||||||
'''Reclaim memory'''
|
'''Reclaim memory'''
|
||||||
gc.collect()
|
gc.collect()
|
||||||
|
|||||||
@@ -1,174 +1,174 @@
|
|||||||
"""
|
"""
|
||||||
RM E1 -Onboard resources
|
RM E1 -Onboard resources
|
||||||
|
|
||||||
MicroPython library for the RM E1 -Onboard resources
|
MicroPython library for the RM E1 -Onboard resources
|
||||||
=======================================================
|
=======================================================
|
||||||
|
|
||||||
#Preliminary composition 20220703
|
#Preliminary composition 20220703
|
||||||
|
|
||||||
dahanzimin From the Mixly Team
|
dahanzimin From the Mixly Team
|
||||||
"""
|
"""
|
||||||
|
|
||||||
import time,gc
|
import time,gc
|
||||||
#import ble_handle
|
#import ble_handle
|
||||||
from machine import Pin,SoftI2C,ADC,PWM,RTC
|
from machine import Pin,SoftI2C,ADC,PWM,RTC
|
||||||
|
|
||||||
'''Bluetooth-handle'''
|
'''Bluetooth-handle'''
|
||||||
#handle=ble_handle.Handle()
|
#handle=ble_handle.Handle()
|
||||||
|
|
||||||
'''i2c-onboard'''
|
'''i2c-onboard'''
|
||||||
onboard_i2c=SoftI2C(scl = Pin(22), sda = Pin(21), freq = 400000)
|
onboard_i2c=SoftI2C(scl = Pin(22), sda = Pin(21), freq = 400000)
|
||||||
|
|
||||||
'''RTC'''
|
'''RTC'''
|
||||||
rtc_clock=RTC()
|
rtc_clock=RTC()
|
||||||
|
|
||||||
'''ACC-Sensor'''
|
'''ACC-Sensor'''
|
||||||
class ACC:
|
class ACC:
|
||||||
def __init__(self,i2c_bus):
|
def __init__(self,i2c_bus):
|
||||||
self._device = i2c_bus
|
self._device = i2c_bus
|
||||||
self._address = 0x09
|
self._address = 0x09
|
||||||
|
|
||||||
def _rreg(self,nbytes):
|
def _rreg(self,nbytes):
|
||||||
'''Read memory address'''
|
'''Read memory address'''
|
||||||
return self._device.readfrom(self._address, nbytes)
|
return self._device.readfrom(self._address, nbytes)
|
||||||
|
|
||||||
def acceleration(self):
|
def acceleration(self):
|
||||||
data_reg=self._rreg(3)
|
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
|
return data_reg[0],data_reg[1],data_reg[2] #返回x y轴数值(0~180)及晃动值
|
||||||
|
|
||||||
try :
|
try :
|
||||||
gyro=ACC(onboard_i2c)
|
gyro=ACC(onboard_i2c)
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
print("Warning: Failed to communicate with ACC or",e)
|
print("Warning: Failed to communicate with ACC or",e)
|
||||||
|
|
||||||
'''2RGB_WS2812''' #color_chase(),rainbow_cycle()方法移至类里
|
'''2RGB_WS2812''' #color_chase(),rainbow_cycle()方法移至类里
|
||||||
from ws2812 import NeoPixel
|
from ws2812 import NeoPixel
|
||||||
onboard_rgb = NeoPixel(Pin(12), 2, default=1)
|
onboard_rgb = NeoPixel(Pin(12), 2, default=1, timing=(450, 900, 850, 500))
|
||||||
|
|
||||||
'''3-Button'''
|
'''3-Button'''
|
||||||
class Button:
|
class Button:
|
||||||
def __init__(self, pin):
|
def __init__(self, pin):
|
||||||
self._pin = Pin(pin, Pin.IN)
|
self._pin = Pin(pin, Pin.IN)
|
||||||
self._flag = True
|
self._flag = True
|
||||||
|
|
||||||
def get_presses(self, delay = 1):
|
def get_presses(self, delay = 1):
|
||||||
last_time,presses = time.time(), 0
|
last_time,presses = time.time(), 0
|
||||||
while time.time() < last_time + delay:
|
while time.time() < last_time + delay:
|
||||||
time.sleep(0.05)
|
time.sleep(0.05)
|
||||||
if self.was_pressed():
|
if self.was_pressed():
|
||||||
presses += 1
|
presses += 1
|
||||||
return presses
|
return presses
|
||||||
|
|
||||||
def is_pressed(self):
|
def is_pressed(self):
|
||||||
return self._pin.value() == False
|
return self._pin.value() == False
|
||||||
|
|
||||||
def was_pressed(self):
|
def was_pressed(self):
|
||||||
if self._pin.value() != self._flag:
|
if self._pin.value() != self._flag:
|
||||||
time.sleep(0.01)
|
time.sleep(0.01)
|
||||||
self._flag = self._pin.value()
|
self._flag = self._pin.value()
|
||||||
if self._flag:
|
if self._flag:
|
||||||
return False
|
return False
|
||||||
else:
|
else:
|
||||||
return True
|
return True
|
||||||
|
|
||||||
def irq(self, handler, trigger):
|
def irq(self, handler, trigger):
|
||||||
self._pin.irq(handler = handler, trigger = trigger)
|
self._pin.irq(handler = handler, trigger = trigger)
|
||||||
|
|
||||||
button_p = Button(35)
|
button_p = Button(35)
|
||||||
button_cw = Button(39)
|
button_cw = Button(39)
|
||||||
button_ccw = Button(36)
|
button_ccw = Button(36)
|
||||||
|
|
||||||
'''3-ADCSensor'''
|
'''3-ADCSensor'''
|
||||||
class ADCSensor:
|
class ADCSensor:
|
||||||
def __init__(self, pin):
|
def __init__(self, pin):
|
||||||
self._adc=ADC(Pin(pin))
|
self._adc=ADC(Pin(pin))
|
||||||
self._adc.atten(ADC.ATTN_11DB)
|
self._adc.atten(ADC.ATTN_11DB)
|
||||||
|
|
||||||
def read(self):
|
def read(self):
|
||||||
return self._adc.read_u16()
|
return self._adc.read_u16()
|
||||||
|
|
||||||
def voltage(self):
|
def voltage(self):
|
||||||
return round(self._adc.read_uv()*4.6/1000000,2)
|
return round(self._adc.read_uv()*4.6/1000000,2)
|
||||||
|
|
||||||
adc1=ADCSensor(32)
|
adc1=ADCSensor(32)
|
||||||
adc2=ADCSensor(33)
|
adc2=ADCSensor(33)
|
||||||
|
|
||||||
'''ADC conflicts with WiFi'''
|
'''ADC conflicts with WiFi'''
|
||||||
try:
|
try:
|
||||||
battery=ADCSensor(26)
|
battery=ADCSensor(26)
|
||||||
except:
|
except:
|
||||||
class Clash:
|
class Clash:
|
||||||
def voltage(self):
|
def voltage(self):
|
||||||
print("Warning: battery power collection conflicts with WiFi")
|
print("Warning: battery power collection conflicts with WiFi")
|
||||||
return None
|
return None
|
||||||
battery=Clash()
|
battery=Clash()
|
||||||
|
|
||||||
'''2-LED''' #Repair brightness adjustment range 0-100%
|
'''2-LED''' #Repair brightness adjustment range 0-100%
|
||||||
class LED:
|
class LED:
|
||||||
def __init__(self, pin):
|
def __init__(self, pin):
|
||||||
self._pin =PWM(Pin(pin),freq=5000,duty_u16=0)
|
self._pin =PWM(Pin(pin),freq=5000,duty_u16=0)
|
||||||
self.setbrightness(0)
|
self.setbrightness(0)
|
||||||
|
|
||||||
def value(self, val):
|
def value(self, val):
|
||||||
self.setonoff(val)
|
self.setonoff(val)
|
||||||
|
|
||||||
def setbrightness(self,val):
|
def setbrightness(self,val):
|
||||||
if not 0 <= val <= 100:
|
if not 0 <= val <= 100:
|
||||||
raise ValueError("Brightness must be in the range: 0-100%")
|
raise ValueError("Brightness must be in the range: 0-100%")
|
||||||
self._brightness=val
|
self._brightness=val
|
||||||
self._pin.duty_u16(val*65535//100)
|
self._pin.duty_u16(val*65535//100)
|
||||||
|
|
||||||
def getbrightness(self):
|
def getbrightness(self):
|
||||||
return self._brightness
|
return self._brightness
|
||||||
|
|
||||||
def setonoff(self,val):
|
def setonoff(self,val):
|
||||||
if(val == -1):
|
if(val == -1):
|
||||||
self.setbrightness(100) if self._brightness<50 else self.setbrightness(0)
|
self.setbrightness(100) if self._brightness<50 else self.setbrightness(0)
|
||||||
elif(val == 1):
|
elif(val == 1):
|
||||||
self.setbrightness(100)
|
self.setbrightness(100)
|
||||||
elif(val == 0):
|
elif(val == 0):
|
||||||
self.setbrightness(0)
|
self.setbrightness(0)
|
||||||
|
|
||||||
def getonoff(self):
|
def getonoff(self):
|
||||||
return True if self._brightness>0 else False
|
return True if self._brightness>0 else False
|
||||||
|
|
||||||
rled = LED(2)
|
rled = LED(2)
|
||||||
gled = LED(4)
|
gled = LED(4)
|
||||||
|
|
||||||
'''3-Motor'''
|
'''3-Motor'''
|
||||||
class Motor:
|
class Motor:
|
||||||
def __init__(self, apin,bpin):
|
def __init__(self, apin,bpin):
|
||||||
self._apin =PWM(Pin(apin),freq=5000,duty_u16=65535)
|
self._apin =PWM(Pin(apin),freq=5000,duty_u16=65535)
|
||||||
self._bpin =PWM(Pin(bpin),freq=5000,duty_u16=65535)
|
self._bpin =PWM(Pin(bpin),freq=5000,duty_u16=65535)
|
||||||
self.motion("P")
|
self.motion("P")
|
||||||
|
|
||||||
def motion(self,action,speed=0):
|
def motion(self,action,speed=0):
|
||||||
if action=="N":
|
if action=="N":
|
||||||
self._apin.duty_u16(0)
|
self._apin.duty_u16(0)
|
||||||
self._bpin.duty_u16(0)
|
self._bpin.duty_u16(0)
|
||||||
elif action=="P":
|
elif action=="P":
|
||||||
self._apin.duty_u16(65535)
|
self._apin.duty_u16(65535)
|
||||||
self._bpin.duty_u16(65535)
|
self._bpin.duty_u16(65535)
|
||||||
elif action=="CW":
|
elif action=="CW":
|
||||||
if speed >=0:
|
if speed >=0:
|
||||||
self._apin.duty_u16(speed*65535//100)
|
self._apin.duty_u16(speed*65535//100)
|
||||||
self._bpin.duty_u16(0)
|
self._bpin.duty_u16(0)
|
||||||
else:
|
else:
|
||||||
self._apin.duty_u16(0)
|
self._apin.duty_u16(0)
|
||||||
self._bpin.duty_u16(-speed*65535//100)
|
self._bpin.duty_u16(-speed*65535//100)
|
||||||
elif action=="CCW":
|
elif action=="CCW":
|
||||||
if speed >=0:
|
if speed >=0:
|
||||||
self._apin.duty_u16(0)
|
self._apin.duty_u16(0)
|
||||||
self._bpin.duty_u16(speed*65535//100)
|
self._bpin.duty_u16(speed*65535//100)
|
||||||
else:
|
else:
|
||||||
self._apin.duty_u16(-speed*65535//100)
|
self._apin.duty_u16(-speed*65535//100)
|
||||||
self._bpin.duty_u16(0)
|
self._bpin.duty_u16(0)
|
||||||
else:
|
else:
|
||||||
raise ValueError('Invalid input, valid are "N","P","CW","CCW"')
|
raise ValueError('Invalid input, valid are "N","P","CW","CCW"')
|
||||||
|
|
||||||
motor1=Motor(23,27)
|
motor1=Motor(23,27)
|
||||||
motor2=Motor(18,19)
|
motor2=Motor(18,19)
|
||||||
motor3=Motor(13,14)
|
motor3=Motor(13,14)
|
||||||
|
|
||||||
'''Reclaim memory'''
|
'''Reclaim memory'''
|
||||||
gc.collect()
|
gc.collect()
|
||||||
|
|||||||
Reference in New Issue
Block a user