From 54babcede80cf8e28a9ecc52cbbf8464333d2e43 Mon Sep 17 00:00:00 2001
From: GuyCarver <gcarver@bethsoft.com>
Date: Mon, 24 Nov 2014 22:40:17 -0500
Subject: [PATCH] Add JYMCU, IRDistance, Relay and SR04Distance

Bunch of driver and code format changes
---
 DistanceDisplay.py    | 122 +++++++++++++++++++++++++++++++++++
 Lib/IRDistance.py     |  33 ++++++++++
 Lib/JYMCU.py          |  69 ++++++++++++++++++++
 Lib/L298N.py          |  29 ++++-----
 Lib/PIR.py            |  16 ++---
 Lib/PWM.py            |  20 +++---
 Lib/Relay.py          |  30 +++++++++
 Lib/SR04Distance.py   |  71 +++++++++++++++++++++
 Lib/ST7735.py         |  20 +++---
 Lib/ultrasonic.py     |  82 ------------------------
 SonarDisplay.py       | 144 ------------------------------------------
 TreatThrower.py       |   2 +-
 _SYNCAPP/metadata.xml | Bin 18078 -> 20928 bytes
 bombs.py              |   4 +-
 level.py              |   4 +-
 main.py               |  64 ++++++++++++-------
 motion.py             |   2 +-
 17 files changed, 413 insertions(+), 299 deletions(-)
 create mode 100644 DistanceDisplay.py
 create mode 100644 Lib/IRDistance.py
 create mode 100644 Lib/JYMCU.py
 create mode 100644 Lib/Relay.py
 create mode 100644 Lib/SR04Distance.py
 delete mode 100644 Lib/ultrasonic.py
 delete mode 100644 SonarDisplay.py

diff --git a/DistanceDisplay.py b/DistanceDisplay.py
new file mode 100644
index 0000000..87cc5e3
--- /dev/null
+++ b/DistanceDisplay.py
@@ -0,0 +1,122 @@
+#Display distance in inches on ST7734 LCD.
+#Distance is taken from the given distance sensor.
+
+import pyb
+import terminalfont
+
+ZeroPoint = (0, 0)
+DISPLAY_DELAY = 100
+FONT_HEIGHT = terminalfont.terminalfont["Height"]
+NUM_DISTANCES = 4 #The number of _distances to use for throwing away anomalies
+THRESHOLD = 0.5
+
+#100-15 = blue
+#15-10  = green
+#10-5   = yellow
+#5-0    = red
+
+COLORS = [(0, 255, 0, 0),
+          (.35, 255, 255, 0),
+          (.50, 0, 255, 0),
+          (.75, 0, 255, 255),
+          (1.0, 0, 0, 255)
+         ]
+
+def round( aValue ) :
+  '''Round float value to 2 decimal places'''
+  return (aValue - (aValue % 0.01))
+
+def getrgb( aDisplay, aDistance, maxdist ) :
+  '''Get an interpolated color based on distance.
+     Uses the COLORS list.'''
+  clr = aDisplay.NAVY
+
+  def interp( l, v0, v1 ) :
+    return int(v0 * (1.0 - l) + (v1 * l))
+
+  for i in range(1, len(COLORS)) :
+    c = COLORS[i]
+    if c[0] * maxdist >= aDistance:
+      rng0, r0, g0, b0 = COLORS[i - 1]
+      rng1, r1, g1, b1 = c
+      rng0 *= maxdist
+      rng1 *= maxdist
+      #interpolate between rng0 and rng1
+      l = (aDistance - rng0) / float(rng1 - rng0)
+      r = interp(l, r0, r1)
+      g = interp(l, g0, g1)
+      b = interp(l, b0, b1)
+      clr = aDisplay.color(r,g,b)
+      break
+  return clr
+
+class RangePoint(object):
+  """Display a point on the screen"""
+
+  def __init__( self, size, maxrange ) :
+    self._size = (50, size)
+    self._pos = (-1, 0)
+    self._prevdistance = -1
+    self._maxrange = maxrange
+
+  def update( self, aDisplay, aDistance, aTime ) :
+    if (self._prevdistance != aDistance):
+      self._draw(aDisplay, 0)
+      clr = getrgb(aDisplay, aDistance, self._maxrange)
+      y = min(1.0, aDistance / self._maxrange)
+      self._pos = (int((aDisplay.size()[0] / 2) - (self._size[0] / 2)), int(y * aDisplay.size()[1] - self._size[1]))
+      self._draw(aDisplay, clr)
+      self._prevdistance = aDistance
+
+  def _draw( self, aDisplay, aColor ) :
+    if self._pos[0] >= 0:
+      aDisplay.fillrect(self._pos, self._size, aColor)
+
+def wrap( aVal, aMax ) : return aVal if aVal < aMax else 0
+
+class Display(object):
+  """Display distance on ST7735 LCD with text and a box"""
+  def __init__( self, display, ranger ):
+    self._display = display
+    self._ranger = ranger
+    self._rangepoint = RangePoint(4, ranger.maxinches)
+    self._curdistance = 0.0
+    self._distances = [0.0] * NUM_DISTANCES
+    self._distindex = 0
+
+  def printdistance( self, aDistance ) :
+    s = "I:" + str(round(aDistance))
+    self._display.fillrect(ZeroPoint, (self._display.size()[0], FONT_HEIGHT * 2), 0)
+    self._display.text(ZeroPoint, s, self._display.CYAN, terminalfont.terminalfont, 2)
+
+  def _getdistance( self ) :
+    '''Throw away changes that are not averaged. This introduces
+       a slight delay in update but gets rid of most bad _distances'''
+
+    d = self._ranger.inches
+#     self._curdistance = d
+    good = 0
+    for c in self._distances :
+      if abs(c - d) < THRESHOLD:
+        good += 1
+        if good > 2:
+          self._curdistance = d
+          break
+
+    self._distances[self._distindex] = d
+    self._distindex = wrap(self._distindex + 1, NUM_DISTANCES)
+    return self._curdistance
+
+  def run( self ) :
+    self._display.fill(0)
+    sw = pyb.Switch()
+    lasttime = pyb.millis()
+    while sw() == False :
+      pyb.delay(DISPLAY_DELAY)
+      distance = self._getdistance()
+
+      thistime = pyb.millis()
+      t = thistime - lasttime
+      self.printdistance(distance)
+      self._rangepoint.update(self._display, distance, t / 1000.0)
+      lasttime = thistime
diff --git a/Lib/IRDistance.py b/Lib/IRDistance.py
new file mode 100644
index 0000000..98a4984
--- /dev/null
+++ b/Lib/IRDistance.py
@@ -0,0 +1,33 @@
+
+from pyb import Pin, ADC
+
+class IRDistance(object):
+  """ Driver for Sharp Gp2y0a IR distance sensor.  The distance
+      range is around 3 to 40 inches. """
+
+  maxinches = 31.5 #Maximun range of IR board in inches.
+  _v2i = -1.02 #Voltage to inches power.
+
+  def __init__( self, pin ) :
+    """pin may be name or pin object.  It must be able to handle ADC input."""
+
+    if type(pin) == str:
+      p = Pin(pin)
+    elif type(pin) == Pin:
+      p = pin
+    else:
+      raise Exception("pin must be pin name or pyb.Pin able to support ADC")
+
+    self._adc = ADC(p)
+
+  @property
+  def distance( self ) : return self._adc.read()
+
+  @property
+  def inches( self ) :
+    volts = self.distance * 0.0048828125
+    return 65.0 * pow(volts, IRDistance._v2i)
+
+  @property
+  def centimeters( self ) : return self.inches * 2.54
+
diff --git a/Lib/JYMCU.py b/Lib/JYMCU.py
new file mode 100644
index 0000000..0146d7d
--- /dev/null
+++ b/Lib/JYMCU.py
@@ -0,0 +1,69 @@
+
+from pyb import UART, repl_uart, udelay
+
+# JY-MCU Bluetooth board ----------------------------------------
+
+# This opens connection with Bluetooth module connected to Y1, Y2 (UART 6)
+# Then it sets the repl output to this UART.
+#COMMANDS AT - does nothing but get an ok.
+#  The posible baudrates are:
+#     AT+BAUD1-------1200
+#     AT+BAUD2-------2400
+#     AT+BAUD3-------4800
+#     AT+BAUD4-------9600 - Default for hc-06
+#     AT+BAUD5------19200
+#     AT+BAUD6------38400
+#     AT+BAUD7------57600 - Johnny-five speed
+#     AT+BAUD8-----115200
+#     AT+BAUD9-----230400
+#     AT+BAUDA-----460800
+#     AT+BAUDB-----921600
+#     AT+BAUDC----1382400
+#     AT+VERSION
+#     AT+NAMEnewname  This is the name that will show up in windows.
+#     AT+PIN???? set 4 digit pairing pin.
+
+class JYMCU(object):
+  """JY-MCU Bluetooth serial device driver.  This is simply a light UART wrapper
+     with addition AT command methods to customize the device."""
+
+  def __init__( self, uart, baudrate ):
+    """ uart = uart #1-6, baudrate must match what is set on the JY-MCU.
+        Needs to be a #1-C. """
+    self._uart = UART(uart, baudrate)
+
+  def __del__( self ) : self._uart.deinit()
+
+  def any( self ) : return self._uart.any()
+
+  def write( self, astring ) : return self._uart.write(astring)
+  def writechar( self, achar ) : self._uart.writechar(achar)
+
+  def read( self, num = None ) : return self._uart.read(num)
+  def readline( self ) : return self._uart.readline()
+  def readchar( self ) : return self._uart.readchar()
+  def readall( self ) : return self._uart.readall()
+  def readinto( self, buf, count = None ) : return self._uart.readinto(buf, count)
+
+  def _cmd( self, cmd ) :
+    """ Send AT command, wait a bit then return result string. """
+    self._uart.write("AT+" + cmd)
+    udelay(500)
+    return self.readline()
+
+  def baudrate( self, rate ) :
+    """ Set the baud rate.  Needs to be #1-C. """
+    return self._cmd("BAUD" + str(rate))
+
+  def name( self, name ) :
+    """ Set the name to show up on the connecting device. """
+    return self._cmd("NAME" + name)
+
+  def pin( self, pin ) :
+    """ Set the given 4 digit numeric pin. """
+    return self._cmd("PIN" + str(pin))
+
+  def version( self ) : return self._cmd("VERSION")
+
+  def setrepl( self ) : repl_uart(self._uart)
+
diff --git a/Lib/L298N.py b/Lib/L298N.py
index d5e996a..de8c78b 100644
--- a/Lib/L298N.py
+++ b/Lib/L298N.py
@@ -1,28 +1,26 @@
 #Driver for the L298N Dual HBridge motor controller.
 
 from PWM import PWM
-from pyb import Pin
-
-#motordata
-#Forward pin
-#Back pin
-#Speed pin (PWM)
+from pyb import Pin, delay
 
 class Motor(  ):
-  """docstring for Motor"""
+  """Control a motor connected to the L298N Dual motor controller."""
 
-  def __init__(self, forward, backward, speed):
-    """Speed = (pin name, timer#)"""
+  def __init__( self, forward, backward, speed ) :
+    """forward pin name, backward pin name, speed = (pin name, timer#)
+       Need to make sure the given timer # is associated with the speed
+       pin or an exception will be raised.  The speed pin must support
+       PWM."""
     self._forward = Pin(forward, Pin.OUT_PP)
     self._backward = Pin(backward, Pin.OUT_PP)
     self._speedControl = PWM(speed[0], speed[1])
     self._speed = 0
 
   @property
-  def speed(self): return self._speed
+  def speed( self ) : return self._speed
 
   @speed.setter
-  def speed(self, value):
+  def speed( self, value ) :
     self._speed = value
     if (value == 0):
       self._forward.low()
@@ -34,11 +32,12 @@ class Motor(  ):
       self._forward.high()
       self._backward.low()
 
-    self._speedControl.pulse_width_percent = abs(value)
+    self._speedControl.pulse_width_percent = min(100, abs(value))
 
   def brake( self ) :
-    """  """
+    """ Brake the motor by sending power both directions. """
     self._forward.high()
     self._backward.high()
-    self._speedControl.pulse_width_percent(1.0)
-
+    self._speedControl.pulse_width_percent = 100
+    delay(1000)
+    self.speed = 0
diff --git a/Lib/PIR.py b/Lib/PIR.py
index df00209..d83a6fa 100644
--- a/Lib/PIR.py
+++ b/Lib/PIR.py
@@ -32,38 +32,38 @@ class PIR(object):
         self._power.low()
 
   @property
-  def power(self): return True if (self._power == None) else self._power.value()
+  def power( self ) : return True if (self._power == None) else self._power.value()
 
   @power.setter
-  def power(self, value): self._onoff(value)
+  def power( self, value ) : self._onoff(value)
 
   def on( self ) : self.power = True
   def off( self ) : self.power = False
 
   @property
-  def trigger(self): return self._trigger.value()
+  def trigger( self ) : return self._trigger.value()
 
   @property
-  def interrupt(self): return self._interrupt
+  def interrupt( self ) : return self._interrupt
 
   @interrupt.setter
-  def interrupt(self, func):
+  def interrupt( self, func ) :
     self._interrupt = None;
     self._func = func
     if (func != None):
       self._interrupt = pyb.ExtInt(self._trigger, pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_DOWN, self._inthandler)
       self._inton = True
 
-  def _inthandler(self, line):
+  def _inthandler( self, line ) :
     '''Function to handle interrupts and pass on to callback with on/off trigger state.'''
     if (self._func != None):
       self._func(self.trigger)
 
   @property
-  def inton(self): return self._inton
+  def inton( self ) : return self._inton
 
   @inton.setter
-  def inton(self, value):
+  def inton( self, value ) :
     self._inton = value
     if self._interrupt != None:
       if value :
diff --git a/Lib/PWM.py b/Lib/PWM.py
index c008108..da0d542 100644
--- a/Lib/PWM.py
+++ b/Lib/PWM.py
@@ -30,11 +30,11 @@ class PWM(object):
   }
 
   class PWMException(Exception):
-      def __init__(self, msg):
+      def __init__( self, msg ) :
           self.msg = msg
 
   @staticmethod
-  def timerandchannel( pinname, timernum ):
+  def timerandchannel( pinname, timernum ) :
     try:
       a = PWM.PinChannels[pinname]
       if timernum <= 0:
@@ -48,7 +48,7 @@ class PWM(object):
 
     raise PWM.PWMException("Pin {} cannot use timer {}".format(pinname, timernum))
 
-  def __init__( self, p, timernum, afreq = 100 ):
+  def __init__( self, p, timernum, afreq = 100 ) :
     isname = type(p) == str
     pinname = p if isname else p.name()
     timernum, channel = PWM.timerandchannel(pinname, timernum)
@@ -59,23 +59,23 @@ class PWM(object):
     self._channel = self._timer.channel(channel, Timer.PWM, pin = p)
 
   @property
-  def pulse_width(self): return self._channel.pulse_width()
+  def pulse_width( self ) : return self._channel.pulse_width()
 
   @pulse_width.setter
-  def pulse_width(self, value): self._channel.pulse_width(value)
+  def pulse_width( self, value ) : self._channel.pulse_width(value)
 
   @property
-  def pulse_width_percent(self): return self._channel.pulse_width_percent()
+  def pulse_width_percent( self ) : return self._channel.pulse_width_percent()
 
   @pulse_width_percent.setter
-  def pulse_width_percent(self, value): self._channel.pulse_width_percent(value)
+  def pulse_width_percent( self, value ) : self._channel.pulse_width_percent(value)
 
   @property
-  def freq(self): return self._timer.freq()
+  def freq( self ) : return self._timer.freq()
 
   @freq.setter
-  def freq(self, value): self._timer.freq(value)
+  def freq( self, value ) : self._timer.freq(value)
 
-  def callback(self, value):
+  def callback( self, value ) :
     self._channel.callback(value)
 
diff --git a/Lib/Relay.py b/Lib/Relay.py
new file mode 100644
index 0000000..aba705e
--- /dev/null
+++ b/Lib/Relay.py
@@ -0,0 +1,30 @@
+#Control a relay board.
+
+from pyb import Pin
+
+class Relay(object):
+  """Control a relay board with an output pin.  Set on to True to drive the relay pin low
+     which turns the relay on."""
+
+  def __init__( self, pin ) :
+    """Pin may be a pin name or pyb.Pin object set for output."""
+
+    if type(pin) == str:
+      self._pin = Pin(pin, Pin.OUT_PP, Pin.PULL_DOWN)
+    elif type(pin) == Pin:
+      self._pin = pin
+    else:
+      raise Exception("pin must be pin name or pyb.Pin")
+
+    self.on = False
+
+  @property
+  def on( self ) : return self._pin.value()
+
+  @on.setter
+  def on( self, value ) :
+    if value:
+      self._pin.low()
+    else:
+      self._pin.high()
+
diff --git a/Lib/SR04Distance.py b/Lib/SR04Distance.py
new file mode 100644
index 0000000..05448bf
--- /dev/null
+++ b/Lib/SR04Distance.py
@@ -0,0 +1,71 @@
+
+from pyb import Pin, Timer, udelay
+
+# WARNING: Do not use PA4-X5 or PA5-X6 as the echo pin without a 1k resistor.
+
+class SR04Distance(object):
+  """  """
+
+  maxinches = 20 #maximum range of SR04.
+
+  def __init__( self, tpin, epin, timer=2 ) :
+    """  """
+
+    if type(tpin) == str:
+      self._tpin = Pin(tpin, Pin.OUT_PP, Pin.PULL_NONE)
+    elif type(tpin) == Pin:
+      self._tpin = tpin
+    else:
+      raise Exception("trigger pin must be pin name or pyb.Pin configured for output.")
+
+    self._tpin.low()
+
+    if type(epin) == str:
+      self._epin = Pin(epin, Pin.IN, Pin.PULL_NONE)
+    elif type(epin) == Pin:
+      self._epin = epin
+    else:
+      raise Exception("echo pin must be pin name or pyb.Pin configured for input.")
+
+    # Create a microseconds counter.
+    self._micros = Timer(timer, prescaler=83, period=0x3fffffff)
+
+  def __del__( self ) :
+    self._micros.deinit()
+
+  @property
+  def counter( self ) : return self._micros.counter()
+
+  @counter.setter
+  def counter( self, value ) : self._micros.counter(value)
+
+  @property
+  def centimeters( self ) :
+    start = 0
+    end = 0
+
+    self.counter = 0
+
+    #Send 10us pulse.
+    self._tpin.high()
+    udelay(10)
+    self._tpin.low()
+
+    while not self._epin.value():
+      start = self.counter
+
+    j = 0
+
+    # Wait 'till the pulse is gone.
+    while self._epin.value() and j < 1000:
+      j += 1
+      end = self.counter
+
+    # Calc the duration of the recieved pulse, divide the result by
+    # 2 (round-trip) and divide it by 29 (the speed of sound is
+    # 340 m/s and that is 29 us/cm).
+    return (end - start) / 58
+
+  @property
+  def inches( self ) : return self.centimeters * 0.3937
+
diff --git a/Lib/ST7735.py b/Lib/ST7735.py
index 377c59c..e894340 100644
--- a/Lib/ST7735.py
+++ b/Lib/ST7735.py
@@ -95,11 +95,11 @@ class TFT(object) :
   GRAY = TFTColor(0x80, 0x80, 0x80)
 
   @staticmethod
-  def color(aR, aG, aB):
+  def color( aR, aG, aB ) :
     '''Create a 565 rgb TFTColor value'''
     return TFTColor(aR, aG, aB)
 
-  def __init__(self, aLoc, aDC, aReset) :
+  def __init__( self, aLoc, aDC, aReset ) :
     """aLoc SPI pin location is either 1 for 'X' or 2 for 'Y'.
        aDC is the DC pin and aReset is the reset pin."""
     self._size = ScreenSize
@@ -115,7 +115,7 @@ class TFT(object) :
     self.colorData = bytearray(2)
     self.windowLocData = bytearray(4)
 
-  def size( self ):
+  def size( self ) :
     return self._size
 
 #   @micropython.native
@@ -448,7 +448,7 @@ class TFT(object) :
     self._writedata(TFTRotations[self.rotate] | rgb)
 
   @micropython.native
-  def _reset(self):
+  def _reset( self ) :
     '''Reset the device.'''
     self.dc.low()
     self.reset.high()
@@ -458,7 +458,7 @@ class TFT(object) :
     self.reset.high()
     pyb.delay(500)
 
-  def initb(self):
+  def initb( self ) :
     '''Initialize blue tab version.'''
     self._size = (ScreenSize[0] + 2, ScreenSize[1] + 1)
     self._reset()
@@ -556,7 +556,7 @@ class TFT(object) :
     self.cs.high()
     pyb.delay(500)
 
-  def initr(self):
+  def initr( self ) :
     '''Initialize a red tab version.'''
     self._reset()
 
@@ -653,7 +653,7 @@ class TFT(object) :
     self.cs.high()
 
   @micropython.native
-  def initg(self):
+  def initg( self ) :
     '''Initialize a green tab version.'''
     self._reset()
 
@@ -741,21 +741,21 @@ class TFT(object) :
 
     self.cs.high()
 
-def maker():
+def maker(  ) :
   t = TFT(1, "X1", "X2")
   print("Initializing")
   t.initr()
   t.fill(0)
   return t
 
-def makeb( ):
+def makeb(  ) :
   t = TFT(1, "X1", "X2")
   print("Initializing")
   t.initb()
   t.fill(0)
   return t
 
-def makeg( ):
+def makeg(  ) :
   t = TFT(1, "X1", "X2")
   print("Initializing")
   t.initg()
diff --git a/Lib/ultrasonic.py b/Lib/ultrasonic.py
deleted file mode 100644
index 8771b6b..0000000
--- a/Lib/ultrasonic.py
+++ /dev/null
@@ -1,82 +0,0 @@
-##
-# Ultrasonic library for MicroPython's pyboard.
-# Compatible with HC-SR04 and SRF04.
-#
-# Copyright 2014 - Sergio Conde Gómez <skgsergio@gmail.com>
-#
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <http://www.gnu.org/licenses/>.
-##
-
-import pyb
-
-# Pin configuration.
-# WARNING: Do not use PA4-X5 or PA5-X6 as the echo pin without a 1k resistor.
-
-def wait( aCount ):
-  j = 0;
-  for i in range(aCount):
-    j += i
-
-class Ultrasonic:
-    def __init__(self, tPin, ePin):
-        self.triggerPin = tPin
-        self.echoPin = ePin
-
-        # Init trigger pin (out)
-        self.trigger = pyb.Pin(self.triggerPin)
-        self.trigger.init(pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
-        self.trigger.low()
-
-        # Init echo pin (in)
-        self.echo = pyb.Pin(self.echoPin)
-        self.echo.init(pyb.Pin.IN, pyb.Pin.PULL_NONE)
-
-    def distance_in_inches(self):
-        return (self.distance_in_cm() * 0.3937)
-
-    def distance_in_cm(self):
-        start = 0
-        end = 0
-
-        # Create a microseconds counter.
-        micros = pyb.Timer(2, prescaler=83, period=0x3fffffff)
-        micros.counter(0)
-
-        # Send a 10us pulse.
-        self.trigger.high()
-        pyb.udelay(10)
-        self.trigger.low()
-
-        # Wait 'till whe pulse starts.
-        while self.echo.value() == 0:
-          start = micros.counter()
-
-        j = 0
-
-        # Wait 'till the pulse is gone.
-        while self.echo.value() == 1 and j < 1000:
-#           print("wait end")
-#           wait(1000)
-          j += 1
-          end = micros.counter()
-
-        # Deinit the microseconds counter
-        micros.deinit()
-
-        # Calc the duration of the recieved pulse, divide the result by
-        # 2 (round-trip) and divide it by 29 (the speed of sound is
-        # 340 m/s and that is 29 us/cm).
-        dist_in_cm = ((end - start) / 2) / 29
-
-        return dist_in_cm
diff --git a/SonarDisplay.py b/SonarDisplay.py
deleted file mode 100644
index 3812be0..0000000
--- a/SonarDisplay.py
+++ /dev/null
@@ -1,144 +0,0 @@
-#Display distance reported by the HC-SR04 on the ST7735 LCD.
-
-import ultrasonic
-import pyb
-import terminalfont
-
-ZeroPoint = (0, 0)
-SONAR_DELAY = 100
-MAX_RANGE = 25.0
-FONT_HEIGHT = terminalfont.terminalfont["Height"]
-NUM_DISTANCES = 4 #The number of distances to use for throwing away anomalies
-THRESHOLD = 1.0
-
-#100-15 = blue
-#15-10  = green
-#10-5   = yellow
-#5-0    = red
-
-COLORS = [(0, 255, 0, 0),
-          (5, 255, 255, 0),
-          (10, 0, 255, 0),
-          (15, 0, 255, 255),
-          (20, 0, 0, 255)
-         ]
-
-def round( aValue ) :
-  '''Round float value to 2 decimal places'''
-  return (aValue - (aValue % 0.01))
-
-def getrgb( aDisplay, aDistance ) :
-  '''Get an interpolated color based on distance.
-     Uses the COLORS list.'''
-  clr = aDisplay.NAVY
-
-  def interp(l, v0, v1):
-    return int(v0 * (1.0 - l) + (v1 * l))
-
-  for i in range(1, len(COLORS)) :
-    c = COLORS[i]
-    if c[0] >= aDistance:
-      rng0, r0, g0, b0 = COLORS[i - 1]
-      rng1, r1, g1, b1 = c
-      #interpolate between rng0 and rng1
-      l = (aDistance - rng0) / float(rng1 - rng0)
-      r = interp(l, r0, r1)
-      g = interp(l, g0, g1)
-      b = interp(l, b0, b1)
-      clr = aDisplay.color(r,g,b)
-      break
-
-  return clr
-
-class RangePoint(object):
-  """Display a point on the screen"""
-
-  def __init__(self, aSize):
-    self.size = (50, aSize)
-    self.pos = (-1, 0)
-    self.prevdistance = -1
-
-  def update( self, aDisplay, aDistance, aTime ) :
-    if (self.prevdistance != aDistance):
-      self._draw(aDisplay, 0)
-      clr = getrgb(aDistance)
-      y = min(1.0, aDistance / MAX_RANGE)
-      self.pos = (int((aDisplay.size[0] / 2) - (self.size[0] / 2)), int(y * aDisplay.size[1] - self.size[1]))
-      self._draw(aDisplay, clr)
-      self.prevdistance = aDistance
-
-  def _draw( self, aDisplay, aColor ) :
-    if self.pos[0] >= 0:
-      aDisplay.fillrect(self.pos, self.size, aColor)
-
-def wrap( aVal, aMax ) :
-  return aVal if aVal < aMax else 0
-
-class SonarDisplay(object):
-  """Display HC-SR04 distance on ST7735 LCD with text and a box"""
-  def __init__( self, aDisplay, aTrigger, aEcho ):
-    self.display = aDisplay
-    self.triggerpin = aTrigger
-    self.echopin = aEcho
-    self.rangepoint = RangePoint(4)
-    self.curdistance = 0.0
-    self.distances = [0.0] * NUM_DISTANCES
-    self.distindex = 0
-    self.hc = ultrasonic.Ultrasonic(self.triggerpin, self.echopin)
-
-  def printdistance( self, aDistance ) :
-    s = "I:" + str(round(aDistance))
-    self.display.fillrect(ZeroPoint, (self.display.size[0], FONT_HEIGHT), 0)
-    self.display.text(ZeroPoint, s, CYAN, terminalfont.terminalfont)
-
-  def _getdistance( self ) :
-    '''Throw away changes that are not averaged. This introduces
-       a slight delay in update but gets rid of most bad distances'''
-
-    d = self.hc.distance_in_inches()
-    good = 0
-    for c in self.distances :
-      if abs(c - d) < THRESHOLD:
-        good += 1
-        if good > 2:
-          self.curdistance = d
-          break
-
-    self.distances[self.distindex] = d
-    self.distindex = wrap(self.distindex + 1, NUM_DISTANCES)
-    return self.curdistance
-
-  def run( self ):
-    self.display.fill(0)
-    sw = pyb.Switch()
-    lasttime = pyb.millis()
-    while sw() == False :
-      pyb.delay(SONAR_DELAY)
-      distance = self._getdistance()
-
-      thistime = pyb.millis()
-      t = thistime - lasttime
-      self.printdistance(distance)
-      self.rangepoint.update(self.display, distance, t / 1000.0)
-      lasttime = thistime
-
-# sensor1_trigPin = pyb.Pin.board.X8
-# sensor1_echoPin = pyb.Pin.board.X7
-
-# sensor1 = ultrasonic.Ultrasonic(sensor1_trigPin, sensor1_echoPin)
-
-# switch = pyb.Switch()
-
-# # function that prints each sensor's distance
-# def print_sensor_values():
-#   # get sensor1's distance in cm
-#   distance1 = sensor1.distance_in_inches()
-
-#   print("Sensor1", distance1, "inches")
-
-# # prints values every second
-# while True:
-#   print("Sensing")
-#   print_sensor_values()
-# #   ultrasonic.wait(10000)
-#   pyb.delay(100)
diff --git a/TreatThrower.py b/TreatThrower.py
index f517811..cbce35c 100644
--- a/TreatThrower.py
+++ b/TreatThrower.py
@@ -12,7 +12,7 @@ class TreatThrower(object):
   servoTime = 1450
   ledNum = 3
 
-  def __init__(self, sensor, servonum = 3):
+  def __init__( self, sensor, servonum = 3 ) :
     self._sensor = sensor
     self._servo = pyb.Servo(servonum)
     mn, mx, _, a, s = self._servo.calibration()
diff --git a/_SYNCAPP/metadata.xml b/_SYNCAPP/metadata.xml
index 19bb3c19835e2ad567fbe9dc916d7739a3eb1d50..a0fe76f8ac20ceca712c5edc05b89d1d1ef474a4 100644
GIT binary patch
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diff --git a/bombs.py b/bombs.py
index 0a2b27d..4ab1ad8 100644
--- a/bombs.py
+++ b/bombs.py
@@ -7,7 +7,7 @@ import time
 
 class bomb(object):
   """Animate a circle on the screen."""
-  def __init__(self, aPos, aRadius, aColor, aSpeed):
+  def __init__( self, aPos, aRadius, aColor, aSpeed ) :
     self.pos = aPos
     self.radius = aRadius
     self.color = aColor
@@ -35,7 +35,7 @@ def randval( aVal ) :
 
 class bomber(object):
   """Control a bunch of bombs."""
-  def __init__(self, aDisplay):
+  def __init__( self, aDisplay ) :
     self.display = aDisplay
     self.ds = self.display.size()
     self.numbombs = 4
diff --git a/level.py b/level.py
index 62038b9..3427875 100644
--- a/level.py
+++ b/level.py
@@ -8,7 +8,7 @@ ZeroPoint = (0, 0)
 class Bubble(object):
   """Circle simulating the level bubble."""
 
-  def __init__(self, aCenter, aSpeed, aRadius, aColor):
+  def __init__( self, aCenter, aSpeed, aRadius, aColor ) :
     self.center = aCenter
     self.pos = aCenter
     self.oldpos = self.pos
@@ -52,7 +52,7 @@ class Bubble(object):
 class Level(object):
   """Simulate a level by controlling a bubble on the aDisplay
      controlled by the accelerometer."""
-  def __init__(self, aDisplay):
+  def __init__( self, aDisplay ) :
     self.display = aDisplay
     cx, cy = aDisplay.size()
     cx /= 2
diff --git a/main.py b/main.py
index cfa72f7..7b9cade 100644
--- a/main.py
+++ b/main.py
@@ -1,16 +1,9 @@
 # main.py -- put your code here!
 
-# import Balance
-
-# Balance.main()
-
 # from seriffont import *
 # from sysfont import *
-from terminalfont import *
-# from SonarDisplay import SonarDisplay
-
+# from terminalfont import *
 pyt = 0
-
 if pyt :
   from ST7735 import makeg
   t = makeg()
@@ -18,42 +11,65 @@ else:
   t = pyb.TFT("x", "X1", "X2")
   t.initg()
 
-t.fill(0)
+# t.fill(0)
 
 # import TFT
 # TFT.run(t)
 
-def tst( aColor ):
-  s = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789-=_+[]{}l;'<>?,./!@#$%^&*():"
-#   t.text(Point(0, 0), s, aColor, basicfont)
-#   t.text(Point(0, 40), s, aColor, seriffont)
-  t.text((0, 40), s, aColor, terminalfont)
-
-# tst(BLUE)
-
-def s(aRot, aColor):
-  t.rotation(aRot)
-  tst(aColor)
+# Display animated circle on TFT -------------------------
 
 # from bombs import bomber
 # t.rotation(2)
 # b = bomber(t)
 # b.run()
 
+# Accelerometer display ----------------------------------
+
+# import Balance
+# Balance.main()
+
+# Carpenter level display using accelerometer ------------
+
 # from level import Level
 # l = Level(t)
 # l.run()
 
-# sd = SonarDisplay(t, "X3", "X4")
-# sd.run()
+# PIR motion sensor --------------------------------------
 
 # import motion
 # m = motion.motion(t)
 # # m.run()
 
+# Cat Treat Thrower --------------------------------------
+
 # import TreatThrower
 # tt = TreatThrower.TreatThrower(m)
 # tt.run()
 
-from L298N import Motor
-m = Motor('Y2', 'Y1', ('Y3', 10))
+# L2082 Motor control ------------------------------------
+
+# from L298N import Motor
+# m1 = Motor('Y1', 'Y2', ('Y3', 4))
+# m2 = Motor('Y5', 'Y6', ('Y4', 4))
+
+# IR or SR04 distance display ----------------------------
+
+# from IRDistance import IRDistance
+# r = IRDistance("X12")
+
+# from SR04Distance import SR04Distance
+# r = SR04Distance("Y2", "Y1")
+
+# t.rotation(2)
+# from DistanceDisplay import Display
+# d = Display(t, r)
+# d.run()
+
+# Bluetooth board ----------------------------------------
+
+from JYMCU import JYMCU
+
+u = JYMCU(6, 57600)
+u.write("Testing.")
+u.readline()
+u.setrepl()
diff --git a/motion.py b/motion.py
index b2fa767..72d1035 100644
--- a/motion.py
+++ b/motion.py
@@ -12,7 +12,7 @@ class motion(PIR.PIR):
   processdelay = 100
 
   """detect motion and print msg on TFT"""
-  def __init__(self, display):
+  def __init__( self, display ) :
     super(motion, self).__init__(None, "X12", self.msg)
     self._extpower = pyb.Pin("X11", pyb.Pin.OUT_PP)
     self._extpower.high()