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761e0f6c8d
...
c54301d14e
2 changed files with 31 additions and 62 deletions
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@ -5,31 +5,27 @@ import time
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_PWM_MAX = const(65535)
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_PWM_FREQ = const(2000)
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_PIN_EN_MOTOR_VERT = const(14)
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_PIN_A_MOTOR_VERT = const(12)
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_PIN_B_MOTOR_VERT = const(13)
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_PIN_EN_MOTOR_VERT = const(0)
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_PIN_A_MOTOR_VERT = const(0)
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_PIN_B_MOTOR_VERT = const(0)
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_PIN_EN_MOTOR_HOR = const(15)
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_PIN_A_MOTOR_HOR = const(10)
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_PIN_B_MOTOR_HOR = const(11)
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_PIN_EN_MOTOR_HOR = const(0)
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_PIN_A_MOTOR_HOR = const(0)
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_PIN_B_MOTOR_HOR = const(0)
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_PIN_EN_BACKLIGHT = const(17)
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_PIN_A_BACKLIGHT = const(18)
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_PIN_B_BACKLIGHT = const(19)
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_PIN_EN_FRONTLIGHT = const(16)
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_PIN_A_FRONTLIGHT = const(20)
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_PIN_B_FRONTLIGHT = const(21)
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_PIN_EN_BACKLIGHT = const(0)
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_PIN_EN_FRONTLIGHT = const(0)
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_PIN_LED_RED_BTN = const(2)
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_PIN_LED_BLU_BTN = const(4)
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_PIN_LED_RED_BTN = const(0)
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_PIN_LED_BLU_BTN = const(0)
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_PIN_RED_BTN = const(3)
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_PIN_BLU_BTN = const(5)
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_PIN_RED_BTN = const(0)
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_PIN_BLU_BTN = const(0)
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_PIN_SENS_END_VERT = const(9)
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_PIN_SENS_CNT_VERT = const(7)
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_PIN_SENS_END_HOR = const(6)
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_PIN_SENS_CNT_HOR = const(8)
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_PIN_SENS_END_VERT = const(0)
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_PIN_SENS_CNT_VERT = const(0)
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_PIN_SENS_END_HOR = const(0)
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_PIN_SENS_CNT_HOR = const(0)
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CMD_MOT_V = 'V' # run vertical motor
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CMD_MOT_H = 'H' # run horizontal motor
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@ -94,12 +90,7 @@ pwm_mh.freq(_PWM_FREQ)
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pin_mv_a = Pin(_PIN_A_MOTOR_VERT, Pin.OUT)
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pin_mv_b = Pin(_PIN_B_MOTOR_VERT, Pin.OUT)
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pin_mh_a = Pin(_PIN_A_MOTOR_HOR, Pin.OUT)
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pin_mh_b = Pin(_PIN_B_MOTOR_HOR, Pin.OUT)
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pin_bl_a = Pin(_PIN_A_BACKLIGHT, Pin.OUT)
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pin_bl_b = Pin(_PIN_B_BACKLIGHT, Pin.OUT)
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pin_fl_a = Pin(_PIN_A_FRONTLIGHT, Pin.OUT)
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pin_fl_b = Pin(_PIN_B_FRONTLIGHT, Pin.OUT)
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pin_mh_b = Pin(_PIN_B_MOTOR_HOR)
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led_blu = Pin(_PIN_LED_BLU_BTN, Pin.OUT)
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led_red = Pin(_PIN_LED_RED_BTN, Pin.OUT)
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@ -127,16 +118,15 @@ def motor_hor(*opts):
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def _motorctrl(scroll: Scroll, steps: int, *opts):
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end = scroll.c + steps
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print(f'motorctrl, end={end}, scroll.c={scroll.c}')
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#while True:
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# err = end - scroll.c
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# if abs(err) > 4:
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# speed = (err / (2 * steps)) + 0.5
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# scroll.speed = int(100 * speed)
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# else:
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# scroll.speed = 0
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# break
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# time.sleep_ms(5)
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while True:
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err = end - scroll.c
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if abs(err) > 4:
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speed = (err / (2 * steps)) + 0.5
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scroll.speed = int(100 * speed)
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else:
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scroll.speed = 0
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break
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time.sleep_ms(5)
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def backlight(*opts):
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_fade_led(pwm_bl, *opts)
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@ -177,8 +167,6 @@ def user_interaction(timeout):
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b, r = btn_blu.value(), btn_red.value()
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if (b + r) < 2:
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tmr.deinit()
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led_blu.value(0)
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led_red.value(0)
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return 'B' if not b else 'R'
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time.sleep_ms(50)
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tmr.deinit()
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@ -231,10 +219,6 @@ def parseCmd(cmd_str: str):
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if __name__ == '__main__':
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pin_bl_a.value(1)
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pin_bl_b.value(0)
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pin_fl_a.value(1)
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pin_fl_b.value(0)
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rxData = ''
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while True:
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rxBuf = uart0.read(1)
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@ -242,4 +226,4 @@ if __name__ == '__main__':
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rxData += rxBuf.decode('utf-8')
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if rxData.endswith('\n'):
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parseCmd(rxData.strip())
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rxData = ''
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rxData = ''
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@ -1,17 +1,14 @@
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from machine import UART, Pin, Timer
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from machine import Pin, Timer
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import time
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led = Pin(25, Pin.OUT)
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btn_blu = Pin(5, Pin.IN, Pin.PULL_UP)
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btn_blu = Pin(2, Pin.IN, Pin.PULL_UP)
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btn_red = Pin(3, Pin.IN, Pin.PULL_UP)
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led_blu = Pin(4, Pin.OUT)
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led_red = Pin(2, Pin.OUT)
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def user_interaction(timeout):
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def _toggle_leds(timer):
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led_blu.toggle()
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led_red.toggle()
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led.toggle()
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tmr = Timer()
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tmr.init(freq=2, mode=Timer.PERIODIC, callback=_toggle_leds)
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startime = time.ticks_ms()
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@ -22,8 +19,6 @@ def user_interaction(timeout):
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tmr.deinit()
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return 'B' if not b else 'R'
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tmr.deinit()
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led_blu.value(0)
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led_red.value(0)
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return 'T' # Timeout
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def recording(timeout):
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@ -41,14 +36,4 @@ def recording(timeout):
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return 'OK'
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if __name__ == '__main__':
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#print(user_interaction(20))
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#Print
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uart0 = UART(0, baudrate=9600, tx=Pin(0), rx=Pin(1))
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rxData = ''
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while True:
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rxBuf = uart0.read(1)
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if rxBuf is not None:
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rxData += rxBuf.decode('utf-8')
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if rxData.endswith('\n'):
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print(rxData.strip())
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rxData = ''
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print(recording(20))
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