implemented test suite

micropizza/test.py

@@ -1,4 +1,4 @@
-from machine import UART, Pin, Timer
+from machine import UART, Pin, PWM, Timer
 import time
 
 led = Pin(25, Pin.OUT)
@@ -8,6 +8,113 @@ btn_red = Pin(3, Pin.IN, Pin.PULL_UP)
 led_blu = Pin(4, Pin.OUT)
 led_red = Pin(2, Pin.OUT)
 
+_PWM_MAX = const(65535)
+_PWM_FREQ = const(2000)
+
+_PIN_EN_MOTOR_VERT = const(14)
+_PIN_A_MOTOR_VERT = const(12)
+_PIN_B_MOTOR_VERT = const(13)
+
+_PIN_EN_MOTOR_HOR = const(15)
+_PIN_A_MOTOR_HOR = const(10)
+_PIN_B_MOTOR_HOR = const(11)
+
+_PIN_EN_BACKLIGHT = const(17)
+_PIN_A_BACKLIGHT = const(18)
+_PIN_B_BACKLIGHT = const(19)
+_PIN_EN_FRONTLIGHT = const(16)
+_PIN_A_FRONTLIGHT = const(20)
+_PIN_B_FRONTLIGHT = const(21)
+
+_PIN_LED_RED_BTN = const(2)
+_PIN_LED_BLU_BTN = const(4)
+
+_PIN_RED_BTN = const(3)
+_PIN_BLU_BTN = const(5)
+
+_PIN_SENS_END_VERT = const(9)
+_PIN_SENS_CNT_VERT = const(7)
+_PIN_SENS_END_HOR = const(6)
+_PIN_SENS_CNT_HOR = const(8)
+
+CMD_MOT_V = 'V'     # run vertical motor
+CMD_MOT_H = 'H'     # run horizontal motor
+CMD_BL = 'B'        # backlight
+CMD_FL = 'F'        # frontlight
+CMD_UI = 'U'        # user interaction
+CMD_RC = 'C'        # recording
+CMD_RW = 'R'        # rewind
+
+LED = Pin(25, Pin.OUT)
+
+class Scroll:
+    def __init__(self, cnt_pin:Pin, end_pin:Pin, en_pin:PWM, a_pin:Pin, b_pin:Pin) -> None:
+        self.c = 0
+        self._dir = 0
+        self._speed = 0
+        self.en_pin = en_pin
+        self.a_pin = a_pin
+        self.b_pin = b_pin
+        self.c_pin = cnt_pin
+        self.c_pin.irq(self._count, Pin.IRQ_RISING | Pin.IRQ_FALLING)
+        self.e_pin = end_pin
+        self.e_pin.irq(self._stop, Pin.IRQ_RISING)        
+    
+    def _count(self, pin):
+        self.c += self._dir
+
+    def _stop(self, pin):
+        self.speed = 0
+
+    @property
+    def dir(self):
+        return self._dir
+    
+    @dir.setter
+    def dir(self, d):
+        self.a_pin.value(1 if d > 0 else 0)
+        self.b_pin.value(1 if d < 0 else 0)
+        self._dir = d
+
+    @property
+    def speed(self):
+        return self._speed * self._dir
+
+    @speed.setter
+    def speed(self, speed):
+        self.en_pin.duty_u16(abs(speed) * (_PWM_MAX // 100))
+        self.dir = (1 if speed > 0 else
+                    (-1 if speed < 0 else 0))
+        self._speed = speed
+
+pwm_bl = PWM(Pin(_PIN_EN_BACKLIGHT))
+pwm_bl.freq(_PWM_FREQ)
+pwm_fl = PWM(Pin(_PIN_EN_FRONTLIGHT))
+pwm_fl.freq(_PWM_FREQ)
+pwm_mv = PWM(Pin(_PIN_EN_MOTOR_VERT))
+pwm_mv.freq(_PWM_FREQ)
+pwm_mh = PWM(Pin(_PIN_EN_MOTOR_HOR))
+pwm_mh.freq(_PWM_FREQ)
+
+pin_mv_a = Pin(_PIN_A_MOTOR_VERT, Pin.OUT)
+pin_mv_b = Pin(_PIN_B_MOTOR_VERT, Pin.OUT)
+pin_mh_a = Pin(_PIN_A_MOTOR_HOR, Pin.OUT)
+pin_mh_b = Pin(_PIN_B_MOTOR_HOR, Pin.OUT)
+
+pin_bl_a = Pin(_PIN_A_BACKLIGHT, Pin.OUT)
+pin_bl_b = Pin(_PIN_B_BACKLIGHT, Pin.OUT)
+pin_fl_a = Pin(_PIN_A_FRONTLIGHT, Pin.OUT)
+pin_fl_b = Pin(_PIN_B_FRONTLIGHT, Pin.OUT)
+
+cnt_v = Pin(_PIN_SENS_CNT_VERT, Pin.IN)
+cnt_h = Pin(_PIN_SENS_CNT_HOR, Pin.IN)
+end_v = Pin(_PIN_SENS_END_VERT, Pin.IN)
+end_h = Pin(_PIN_SENS_END_HOR, Pin.IN)
+
+scroll_h = Scroll(cnt_h, end_h, pwm_mh, pin_mh_a, pin_mh_b)
+scroll_v = Scroll(cnt_v, end_v, pwm_mv, pin_mv_a, pin_mv_b)
+
+
 def user_interaction(timeout):
     def _toggle_leds(timer):
         led_blu.toggle()
@@ -40,9 +147,7 @@ def recording(timeout):
         time.sleep_ms(50)
     return 'OK'
 
-if __name__ == '__main__':
-    #print(user_interaction(20))
-    #Print
+def uart_comm():
     uart0 = UART(0, baudrate=9600, tx=Pin(0), rx=Pin(1))
     rxData = ''
     while True:
@@ -51,4 +156,16 @@ if __name__ == '__main__':
             rxData += rxBuf.decode('utf-8')
             if rxData.endswith('\n'):
                 print(rxData.strip())
-                rxData = ''
+                uart0.write(b'OK\n')
+                rxData = ''
+
+def test_sensors():
+    for i in range(4):
+        pin = Pin(i+6, Pin.IN)
+        print(f'pin {i+6}: {pin.value()}')
+
+if __name__ == '__main__':
+    #print(user_interaction(20))
+    #Print
+    #test_sensors()
+    uart_comm()