255 lines
9.4 KiB
Python
255 lines
9.4 KiB
Python
"""
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MixGo CAR -Onboard resources
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MicroPython library for the MixGo CAR (ESP32C3)
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=======================================================
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#Preliminary composition 20220804
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dahanzimin From the Mixly Team
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"""
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import time,gc,ms32006
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from machine import Pin,SoftI2C,ADC,RTC
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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(7), sda = Pin(6), freq = 400000)
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'''4RGB_WS2812''' #color_chase(),rainbow_cycle()方法移至类里
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from ws2812 import NeoPixel
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onboard_rgb = NeoPixel(Pin(8), 4, ORDER=(0, 1, 2, 3))
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'''1Buzzer-Music'''
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from music import MIDI
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onboard_music =MIDI(5)
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'''1KEY_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)
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self.flag = True
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def get_presses(self, delay = 1):
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last_time, last_state, presses = time.time(), 0, 0
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while time.time() < last_time + delay:
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time.sleep_ms(50)
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if last_state == 0 and self.pin.value() == 1:
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last_state = 1
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if last_state == 1 and self.pin.value() == 0:
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last_state, presses = 0, presses + 1
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return presses
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def is_pressed(self):
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return not self.pin.value()
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def was_pressed(self, flag = 0):
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if(self.pin.value() != self.flag):
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self.flag = self.pin.value()
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time.sleep(0.02)
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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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button = Button(9)
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'''MS32006-Drive'''
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class CAR:
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MOTO_R =1
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MOTO_R1 =0
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MOTO_R2 =7
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MOTO_L =2
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MOTO_L1 =4
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MOTO_L2 =3
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def __init__(self, i2c_bus):
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self.motor_a=ms32006.MS32006(i2c_bus,ms32006.ADDRESS_A)
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self.motor_b=ms32006.MS32006(i2c_bus,ms32006.ADDRESS_B)
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self.motor_move("P")
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def motor(self,index,action,speed=0):
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if action=="N":
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if index==self.MOTO_R:
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self.motor_a.dc_motor(ms32006.MOT_N,speed)
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if index==self.MOTO_L:
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self.motor_b.dc_motor(ms32006.MOT_N,speed)
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elif action=="P":
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if index==self.MOTO_R:
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self.motor_a.dc_motor(ms32006.MOT_P,speed)
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if index==self.MOTO_L:
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self.motor_b.dc_motor(ms32006.MOT_P,speed)
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elif action=="CW":
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if index==self.MOTO_R:
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self.motor_a.dc_motor(ms32006.MOT_CW,speed)
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if index==self.MOTO_L:
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self.motor_b.dc_motor(ms32006.MOT_CW,speed)
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elif action=="CCW":
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if index==self.MOTO_R:
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self.motor_a.dc_motor(ms32006.MOT_CCW,speed)
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if index==self.MOTO_L:
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self.motor_b.dc_motor(ms32006.MOT_CCW,speed)
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else:
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raise ValueError('Invalid input, valid are "N","P","CW","CCW"')
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def stepper(self,index,action,mot_pps,mot_step):
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if action=="N":
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if index==self.MOTO_R1 or index==self.MOTO_L1:
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self.motor_a.close(index)
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if index==self.MOTO_R2 or index==self.MOTO_L2:
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self.motor_b.close(index-3)
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elif action=="P":
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if index==self.MOTO_R1 or index==self.MOTO_L1:
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self.motor_a.stop(index)
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if index==self.MOTO_R2 or index==self.MOTO_L2:
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self.motor_b.stop(index-3)
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elif action=="CW":
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if index==self.MOTO_R1 or index==self.MOTO_L1:
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self.motor_a.move(index,ms32006.MOT_CW,mot_pps,mot_step)
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if index==self.MOTO_R2 or index==self.MOTO_L2:
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self.motor_b.move(index-3,ms32006.MOT_CW,mot_pps,mot_step)
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elif action=="CCW":
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if index==self.MOTO_R1 or index==self.MOTO_L1:
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self.motor_a.move(index,ms32006.MOT_CCW,mot_pps,mot_step)
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if index==self.MOTO_R2 or index==self.MOTO_L2:
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self.motor_b.move(index-3,ms32006.MOT_CCW,mot_pps,mot_step)
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else:
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raise ValueError('Invalid input, valid are "N","P","CW","CCW"')
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def stepper_readwork(self,index):
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if index==self.MOTO_R1 or index==self.MOTO_L1:
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return self.motor_a.readwork(index)
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if index==self.MOTO_R2 or index==self.MOTO_L2:
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return self.motor_b.readwork(index-3)
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def stepper_move(self,action,mot_pps,mot_step):
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if action=="N":
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self.motor_a.close(self.MOTO_R1)
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self.motor_a.close(self.MOTO_R2-3)
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self.motor_b.close(self.MOTO_L1)
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self.motor_b.close(self.MOTO_L2-3)
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elif action=="P":
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self.motor_a.stop(self.MOTO_R1)
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self.motor_a.stop(self.MOTO_R2-3)
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self.motor_b.stop(self.MOTO_L1)
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self.motor_b.stop(self.MOTO_L2-3)
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elif action=="F":
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self.motor_a.move(self.MOTO_R1,ms32006.MOT_CW,mot_pps,mot_step)
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self.motor_a.move(self.MOTO_R2-3,ms32006.MOT_CCW,mot_pps,mot_step)
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self.motor_b.move(self.MOTO_L1,ms32006.MOT_CW,mot_pps,mot_step)
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self.motor_b.move(self.MOTO_L2-3,ms32006.MOT_CCW,mot_pps,mot_step)
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elif action=="B":
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self.motor_a.move(self.MOTO_R1,ms32006.MOT_CCW,mot_pps,mot_step)
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self.motor_a.move(self.MOTO_R2-3,ms32006.MOT_CW,mot_pps,mot_step)
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self.motor_b.move(self.MOTO_L1,ms32006.MOT_CCW,mot_pps,mot_step)
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self.motor_b.move(self.MOTO_L2-3,ms32006.MOT_CW,mot_pps,mot_step)
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elif action=="L":
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self.motor_a.move(self.MOTO_R1,ms32006.MOT_CCW,mot_pps,mot_step)
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self.motor_a.move(self.MOTO_R2-3,ms32006.MOT_CCW,mot_pps,mot_step)
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self.motor_b.move(self.MOTO_L1,ms32006.MOT_CCW,mot_pps,mot_step)
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self.motor_b.move(self.MOTO_L2-3,ms32006.MOT_CCW,mot_pps,mot_step)
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elif action=="R":
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self.motor_a.move(self.MOTO_R1,ms32006.MOT_CW,mot_pps,mot_step)
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self.motor_a.move(self.MOTO_R2-3,ms32006.MOT_CW,mot_pps,mot_step)
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self.motor_b.move(self.MOTO_L1,ms32006.MOT_CW,mot_pps,mot_step)
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self.motor_b.move(self.MOTO_L2-3,ms32006.MOT_CW,mot_pps,mot_step)
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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 motor_move(self,action,speed=100):
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if action=="N":
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self.motor_a.dc_motor(ms32006.MOT_N,speed)
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self.motor_b.dc_motor(ms32006.MOT_N,speed)
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elif action=="P":
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self.motor_a.dc_motor(ms32006.MOT_P,speed)
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self.motor_b.dc_motor(ms32006.MOT_P,speed)
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elif action=="F":
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self.motor_a.dc_motor(ms32006.MOT_CCW,speed)
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self.motor_b.dc_motor(ms32006.MOT_CW,speed)
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elif action=="B":
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self.motor_a.dc_motor(ms32006.MOT_CW,speed)
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self.motor_b.dc_motor(ms32006.MOT_CCW,speed)
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elif action=="L":
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self.motor_a.dc_motor(ms32006.MOT_CCW,speed)
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self.motor_b.dc_motor(ms32006.MOT_CCW,speed)
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elif action=="R":
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self.motor_a.dc_motor(ms32006.MOT_CW,speed)
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self.motor_b.dc_motor(ms32006.MOT_CW,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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try :
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car=CAR(onboard_i2c) #Including LED,motor,patrol,obstacle
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except Exception as e:
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print("Warning: Failed to communicate with MS32006 or",e)
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'''IRtube-Drive'''
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class IRtube:
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OA=1 #Obstacle avoidance mode only
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LP=2 #Line patrol mode only
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AS=3 #Automatic mode switching
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def __init__(self):
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#auto：是否手动切换模拟开关转换
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self.adc0 = ADC(Pin(0))
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self.adc1 = ADC(Pin(1))
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self.adc2 = ADC(Pin(3))
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self.adc3 = ADC(Pin(4))
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self.adc0.atten(ADC.ATTN_11DB)
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self.adc1.atten(ADC.ATTN_11DB)
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self.adc2.atten(ADC.ATTN_11DB)
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self.adc3.atten(ADC.ATTN_11DB)
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self.convert=Pin(2, Pin.OUT)
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self._mode=self.AS
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def read_bat(self):
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#读电池电量，返回电压值
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self.convert = ADC(Pin(2))
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self.convert.atten(ADC.ATTN_11DB)
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time.sleep_ms(5)
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bat_adc=self.convert.read()*0.0011
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time.sleep_ms(5)
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self.convert=Pin(2, Pin.OUT)
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return bat_adc
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def obstacle(self):
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#读避障传感器,返回前左、右，后左、右，ADC值
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if self._mode==self.AS:
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self.convert.value(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.adc1.read_u16(),self.adc2.read_u16(),self.adc3.read_u16(),self.adc0.read_u16()
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else:
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raise ValueError('In line patrol mode, obstacle avoidance data cannot be read')
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def patrol(self):
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#读巡线传感器,返回左、中左、中右、右，ADC值
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if self._mode==self.AS:
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self.convert.value(1)
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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.adc0.read_u16(),self.adc1.read_u16(),self.adc2.read_u16(),self.adc3.read_u16()
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else:
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raise ValueError('In obstacle avoidance mode, line patrol data cannot be read')
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def ir_mode(self,select=0):
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#切换模式
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self._mode=select
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if select==self.OA:
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self.convert.value(0)
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if select==self.LP:
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self.convert.value(1)
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time.sleep_ms(2)
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onboard_info = IRtube()
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'''Reclaim memory'''
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gc.collect()
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