kopia lustrzana https://github.com/micropython/micropython
217 wiersze
6.3 KiB
Python
217 wiersze
6.3 KiB
Python
# This file is part of the MicroPython project, http://micropython.org/
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#
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# The MIT License (MIT)
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#
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# Copyright (c) 2017 Glenn Ruben Bakke
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in
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# all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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# THE SOFTWARE
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# MicroPython controller for PowerUp 3.0 paper airplane
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# https://www.poweruptoys.com/products/powerup-v3
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#
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# Examples is written for nrf52832, pca10040 using s132 bluetooth stack.
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#
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# Joystick shield pin mapping:
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# - analog stick x-direction - ADC0 - P0.02/"P2"
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# - buttons P0.13 - P0.16 / "P13", "P14", "P15", "P16"
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#
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# Example usage:
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#
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# from powerup import PowerUp3
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# p = PowerUp3()
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import time
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from machine import ADC
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from machine import Pin
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from ubluepy import Peripheral, Scanner, constants
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def bytes_to_str(bytes):
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string = ""
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for b in bytes:
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string += chr(b)
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return string
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def get_device_names(scan_entries):
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dev_names = []
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for e in scan_entries:
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scan = e.getScanData()
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if scan:
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for s in scan:
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if s[0] == constants.ad_types.AD_TYPE_COMPLETE_LOCAL_NAME:
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dev_names.append((e, bytes_to_str(s[2])))
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return dev_names
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def find_device_by_name(name):
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s = Scanner()
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scan_res = s.scan(500)
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device_names = get_device_names(scan_res)
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for dev in device_names:
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if name == dev[1]:
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return dev[0]
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class PowerUp3:
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def __init__(self):
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self.x_adc = ADC(1)
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self.btn_speed_up = Pin("P13", mode=Pin.IN, pull=Pin.PULL_UP)
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self.btn_speed_down = Pin("P15", mode=Pin.IN, pull=Pin.PULL_UP)
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self.btn_speed_full = Pin("P14", mode=Pin.IN, pull=Pin.PULL_UP)
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self.btn_speed_off = Pin("P16", mode=Pin.IN, pull=Pin.PULL_UP)
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self.x_mid = 0
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self.calibrate()
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self.connect()
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self.loop()
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def read_stick_x(self):
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return self.x_adc.value()
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def button_speed_up(self):
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return not bool(self.btn_speed_up.value())
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def button_speed_down(self):
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return not bool(self.btn_speed_down.value())
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def button_speed_full(self):
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return not bool(self.btn_speed_full.value())
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def button_speed_off(self):
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return not bool(self.btn_speed_off.value())
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def calibrate(self):
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self.x_mid = self.read_stick_x()
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def __str__(self):
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return "calibration x: %i, y: %i" % (self.x_mid)
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def map_chars(self):
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s = self.p.getServices()
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service_batt = s[3]
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service_control = s[4]
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self.char_batt_lvl = service_batt.getCharacteristics()[0]
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self.char_control_speed = service_control.getCharacteristics()[0]
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self.char_control_angle = service_control.getCharacteristics()[2]
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def battery_level(self):
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return int(self.char_batt_lvl.read()[0])
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def speed(self, new_speed=None):
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if new_speed == None:
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return int(self.char_control_speed.read()[0])
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else:
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self.char_control_speed.write(bytearray([new_speed]))
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def angle(self, new_angle=None):
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if new_angle == None:
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return int(self.char_control_angle.read()[0])
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else:
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self.char_control_angle.write(bytearray([new_angle]))
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def connect(self):
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dev = None
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# connect to the airplane
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while not dev:
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dev = find_device_by_name("TailorToys PowerUp")
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if dev:
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self.p = Peripheral()
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self.p.connect(dev.addr())
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# locate interesting characteristics
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self.map_chars()
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def rudder_center(self):
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if self.old_angle != 0:
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self.old_angle = 0
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self.angle(0)
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def rudder_left(self, angle):
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steps = angle // self.interval_size_left
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new_angle = 60 - steps
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if self.old_angle != new_angle:
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self.angle(new_angle)
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self.old_angle = new_angle
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def rudder_right(self, angle):
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steps = angle // self.interval_size_right
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new_angle = -steps
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if self.old_angle != new_angle:
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self.angle(new_angle)
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self.old_angle = new_angle
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def throttle(self, speed):
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if speed > 200:
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speed = 200
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elif speed < 0:
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speed = 0
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if self.old_speed != speed:
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self.speed(speed)
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self.old_speed = speed
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def loop(self):
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adc_threshold = 10
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right_threshold = self.x_mid + adc_threshold
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left_threshold = self.x_mid - adc_threshold
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self.interval_size_left = self.x_mid // 60
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self.interval_size_right = (255 - self.x_mid) // 60
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self.old_angle = 0
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self.old_speed = 0
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while True:
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time.sleep_ms(100)
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# read out new angle
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new_angle = self.read_stick_x()
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if new_angle < 256:
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if new_angle > right_threshold:
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self.rudder_right(new_angle - self.x_mid)
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elif new_angle < left_threshold:
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self.rudder_left(new_angle)
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else:
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self.rudder_center()
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# read out new speed
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new_speed = self.old_speed
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if self.button_speed_up():
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new_speed += 25
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elif self.button_speed_down():
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new_speed -= 25
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elif self.button_speed_full():
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new_speed = 200
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elif self.button_speed_off():
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new_speed = 0
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else:
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pass
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self.throttle(new_speed)
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