import os import ujson from utime import sleep_us, sleep_ms from machine import Pin, PWM, ADC, time_pulse_us # LEDs STATUS = 0 OPPONENT = 1 LEFT_LINE = 2 RIGHT_LINE = 3 # directions STOP = 0 LEFT = 1 RIGHT = 2 FORWARD = 3 BACKWARD = 4 # open and parse the config file config = None with open("config.json", "r") as config_file: config = ujson.load(config_file) class Sumorobot(object): # ultrasonic distance sensor echo = Pin(14, Pin.IN) trigger = Pin(27, Pin.OUT) # Servo PWM-s pwm_left = PWM(Pin(15), freq=50, duty=0) pwm_right = PWM(Pin(4), freq=50, duty=0) # bottom LED bottom_led = Pin(22, Pin.OUT) # bottom LED is in reverse polarity bottom_led.value(1) # sensor LEDs opponent_led = Pin(16, Pin.OUT) left_line_led = Pin(17, Pin.OUT) right_line_led = Pin(12, Pin.OUT) # battery gauge adc_battery = ADC(Pin(32)) # the pullups for the phototransistors Pin(19, Pin.IN, Pin.PULL_UP) Pin(23, Pin.IN, Pin.PULL_UP) # the phototransistors adc_line_left = ADC(Pin(34)) adc_line_right = ADC(Pin(33)) # Set reference voltage to 3.3V adc_battery.atten(ADC.ATTN_11DB) adc_line_left.atten(ADC.ATTN_11DB) adc_line_right.atten(ADC.ATTN_11DB) # for highlighting blockly blocks highlight_block = None # for terminating sleep terminate = False # to smooth out ultrasonic sensor value opponent_score = 0 def __init__(self, highlight_block): self.highlight_block = highlight_block def set_led(self, led, state): # set the given LED state if led == STATUS: self.bottom_led.value(0 if state else 1) elif led == OPPONENT: self.opponent_led.value(state) elif led == LEFT_LINE: self.left_line_led.value(state) elif led == RIGHT_LINE: self.right_line_led.value(state) def get_battery_voltage(self): return round(config["battery_coeff"] * (self.adc_battery.read() * 3.3 / 4096), 2) def get_opponent_distance(self): # send a pulse self.trigger.value(0) sleep_us(5) self.trigger.value(1) sleep_us(10) self.trigger.value(0) # wait for the pulse and calculate the distance return (time_pulse_us(self.echo, 1, 30000) / 2) / 29.1 def is_opponent(self, block_id = None): # if block_id given and blockly highlight is on if block_id and config["blockly_highlight"]: self.highlight_block(block_id) # get the opponent distance self.opponent_distance = self.get_opponent_distance() # if the opponent is close and the ping actually returned if self.opponent_distance < config["ultrasonic_distance"] and self.opponent_distance > 0: # if not maximum score if self.opponent_score < 5: # increase the opponent score self.opponent_score += 1 # if no opponent was detected else: # if not lowest score if self.opponent_score > 0: # decrease the opponent score self.opponent_score -= 1 # if the sensor saw something more than 2 times opponent = True if self.opponent_score > 2 else False # trigger opponent LED self.set_led(OPPONENT, opponent) return opponent def calibrate_line(self): # read the line sensor values config["left_line_threshold"] = self.adc_line_left.read() config["right_line_threshold"] = self.adc_line_right.read() # update the config file with open("config.part", "w") as config_file: config_file.write(ujson.dumps(config)) os.rename("config.part", "config.json") def get_line(self, dir): # check for valid direction assert dir == LEFT or dir == RIGHT # return the given line sensor value if dir == LEFT: return self.adc_line_left.read() elif dir == RIGHT: return self.adc_line_right.read() def is_line(self, dir, block_id = None): # check for valid direction assert dir == LEFT or dir == RIGHT # if block_id given and blockly highlight is on if block_id and config["blockly_highlight"]: self.highlight_block(block_id) # return the given line sensor value if dir == LEFT: line = abs(self.adc_line_left.read() - config["left_line_threshold"]) > 1000 self.set_led(LEFT_LINE, line) return line elif dir == RIGHT: line = abs(self.adc_line_right.read() - config["right_line_threshold"]) > 1000 self.set_led(RIGHT_LINE, line) return line def detach_servos(self): self.set_servo(LEFT, 0) self.set_servo(RIGHT, 0) prev_speed = {LEFT: 0, RIGHT: 0} def set_servo(self, dir, speed): # check for valid direction assert dir == LEFT or dir == RIGHT # check for valid speed assert speed <= 100 and speed >= -100 # when the speed didn't change if speed == self.prev_speed[dir]: return # record the new speed self.prev_speed[dir] = speed # set the given servo speed if dir == LEFT: if speed == 0: self.pwm_left.duty(0) else: self.pwm_left.duty(int(33 + config["left_servo_tuning"] + speed * 33 / 100)) # -100 ... 100 to 33 .. 102 elif dir == RIGHT: if speed == 0: self.pwm_right.duty(0) else: self.pwm_right.duty(int(33 + config["right_servo_tuning"] + speed * 33 / 100)) # -100 ... 100 to 33 .. 102 def move(self, dir, block_id = None): # check for valid direction assert dir == STOP or dir == RIGHT or dir == LEFT or dir == BACKWARD or dir == FORWARD # if block_id given and blockly highlight is on if block_id and config["blockly_highlight"]: self.highlight_block(block_id) # go to the given direction if dir == STOP: self.set_servo(LEFT, 0) self.set_servo(RIGHT, 0) elif dir == LEFT: self.set_servo(LEFT, -100) self.set_servo(RIGHT, -100) elif dir == RIGHT: self.set_servo(LEFT, 100) self.set_servo(RIGHT, 100) elif dir == FORWARD: self.set_servo(LEFT, 100) self.set_servo(RIGHT, -100) elif dir == BACKWARD: self.set_servo(LEFT, -100) self.set_servo(RIGHT, 100) def sleep(self, delay, block_id = None): # check for valid delay assert delay > 0 # if block_id given and blockly highlight is on if block_id and config["blockly_highlight"]: self.highlight_block(block_id) # split the delay into 50ms chunks for j in range(0, delay, 50): # check for forceful termination if self.terminate: # terminate the delay return else: sleep_ms(50)