250 lines
8.0 KiB
Python
Executable File
250 lines
8.0 KiB
Python
Executable File
import os
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import ujson
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from utime import sleep_us, sleep_ms
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from machine import Pin, PWM, ADC, time_pulse_us, deepsleep
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# LEDs
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STATUS = 0
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OPPONENT = 1
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LEFT_LINE = 2
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RIGHT_LINE = 3
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# Directions
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STOP = 0
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LEFT = 1
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RIGHT = 2
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SEARCH = 3
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FORWARD = 4
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BACKWARD = 5
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class Sumorobot(object):
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# Constructor
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def __init__(self, config = None):
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# Config file
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self.config = config
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# Ultrasonic distance sensor
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self.echo = Pin(14, Pin.IN)
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self.trigger = Pin(27, Pin.OUT)
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# Servo PWM-s
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self.pwm_left = PWM(Pin(15), freq=50, duty=0)
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self.pwm_right = PWM(Pin(4), freq=50, duty=0)
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# Bottom status LED
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self.status_led = Pin(5, Pin.OUT)
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# Bottom status LED is in reverse polarity
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self.status_led.value(1)
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# Sensor LEDs
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self.opponent_led = Pin(16, Pin.OUT)
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self.left_line_led = Pin(17, Pin.OUT)
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self.right_line_led = Pin(12, Pin.OUT)
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# Battery gauge
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self.bat_status = 4.3
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self.move_counter = 0
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self.adc_battery = ADC(Pin(32))
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# The pullups for the phototransistors
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Pin(19, Pin.IN, Pin.PULL_UP)
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Pin(23, Pin.IN, Pin.PULL_UP)
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# The phototransistors
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self.adc_line_left = ADC(Pin(34))
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self.adc_line_right = ADC(Pin(33))
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# Set reference voltage to 3.3V
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self.adc_battery.atten(ADC.ATTN_11DB)
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self.adc_line_left.atten(ADC.ATTN_11DB)
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self.adc_line_right.atten(ADC.ATTN_11DB)
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# To smooth out ultrasonic sensor value
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self.opponent_score = 0
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# For terminating sleep
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self.terminate = False
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# For search mode
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self.search = False
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self.search_counter = 0
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# Memorise previous servo speeds
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self.prev_speed = {LEFT: 0, RIGHT: 0}
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# Function to set LED states
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def set_led(self, led, state):
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# Set the given LED state
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if led == STATUS:
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# Status LED is reverse polarity
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self.status_led.value(0 if state else 1)
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elif led == OPPONENT:
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self.opponent_led.value(state)
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elif led == LEFT_LINE:
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self.left_line_led.value(state)
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elif led == RIGHT_LINE:
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self.right_line_led.value(state)
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# Function to shortly bink status LED
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def toggle_led(self, timer = None):
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self.status_led.value(0)
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sleep_ms(10)
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self.status_led.value(1)
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# Function to get battery voltage
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def get_battery_voltage(self):
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bat = round(self.config["battery_coeff"] * (self.adc_battery.read() * 3.3 / 4096), 2)
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# When the SumoRobot is not moving
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if self.prev_speed[LEFT] == 0 and self.prev_speed[RIGHT] == 0:
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if self.move_counter > 0:
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self.move_counter -= 1
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if self.bat_status < bat - 0.20 and self.move_counter == 0:
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deepsleep()
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self.bat_status = bat
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else:
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self.move_counter = 10
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return bat
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# Function to get distance (cm) from the object in front of the SumoRobot
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def get_opponent_distance(self):
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# Send a pulse
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self.trigger.value(0)
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sleep_us(5)
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self.trigger.value(1)
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sleep_us(10)
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self.trigger.value(0)
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# Wait for the pulse and calculate the distance
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return (time_pulse_us(self.echo, 1, 30000) / 2) / 29.1
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# Function to get boolean if there is something in front of the SumoRobot
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def is_opponent(self, block_id = None):
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# Get the opponent distance
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self.opponent_distance = self.get_opponent_distance()
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# When the opponent is close and the ping actually returned
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if self.opponent_distance < self.config["ultrasonic_distance"] and self.opponent_distance > 0:
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# When not maximum score
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if self.opponent_score < 5:
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# Increase the opponent score
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self.opponent_score += 1
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# When no opponent was detected
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else:
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# When not lowest score
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if self.opponent_score > 0:
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# Decrease the opponent score
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self.opponent_score -= 1
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# When the sensor saw something more than 2 times
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opponent = True if self.opponent_score > 2 else False
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# Trigger opponent LED
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self.set_led(OPPONENT, opponent)
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return opponent
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# Function to update line calibration and write it to the config file
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def calibrate_line(self):
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# Read the line sensor values
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self.config["left_line_threshold"] = self.adc_line_left.read()
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self.config["right_line_threshold"] = self.adc_line_right.read()
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# Update the config file
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with open("config.part", "w") as config_file:
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config_file.write(ujson.dumps(config))
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os.rename("config.part", "config.json")
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# Function to get light inensity from the phototransistors
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def get_line(self, dir):
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# Check for valid direction
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assert dir == LEFT or dir == RIGHT
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# Return the given line sensor value
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if dir == LEFT:
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return self.adc_line_left.read()
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elif dir == RIGHT:
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return self.adc_line_right.read()
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def is_line(self, dir, block_id = None):
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# Check for valid direction
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assert dir == LEFT or dir == RIGHT
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# Return the given line sensor value
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if dir == LEFT:
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line = abs(self.get_line(LEFT) - self.config["left_line_threshold"]) > 1000
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self.set_led(LEFT_LINE, line)
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return line
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elif dir == RIGHT:
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line = abs(self.get_line(RIGHT) - self.config["right_line_threshold"]) > 1000
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self.set_led(RIGHT_LINE, line)
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return line
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def set_servo(self, dir, speed):
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# Check for valid direction
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assert dir == LEFT or dir == RIGHT
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# Check for valid speed
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assert speed <= 100 and speed >= -100
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# When the speed didn't change
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if speed == self.prev_speed[dir]:
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return
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# Record the new speed
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self.prev_speed[dir] = speed
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# Set the given servo speed
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if dir == LEFT:
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if speed == 0:
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self.pwm_left.duty(0)
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else:
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# -100 ... 100 to 33 .. 102
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self.pwm_left.duty(int(33 + self.config["left_servo_tuning"] + speed * 33 / 100))
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elif dir == RIGHT:
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if speed == 0:
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self.pwm_right.duty(0)
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else:
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# -100 ... 100 to 33 .. 102
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self.pwm_right.duty(int(33 + self.config["right_servo_tuning"] + speed * 33 / 100))
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def move(self, dir, block_id = None):
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# Check for valid direction
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assert dir == STOP or dir == RIGHT or dir == LEFT or dir == BACKWARD or dir == FORWARD
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# Go to the given direction
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if dir == STOP:
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self.set_servo(LEFT, 0)
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self.set_servo(RIGHT, 0)
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elif dir == LEFT:
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self.set_servo(LEFT, -100)
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self.set_servo(RIGHT, -100)
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elif dir == RIGHT:
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self.set_servo(LEFT, 100)
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self.set_servo(RIGHT, 100)
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elif dir == SEARCH:
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# Change search mode after X seconds
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if self.search_counter == 50:
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self.search = not self.search
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self.search_counter = 0
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# When to search
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if self.search:
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self.move(FORWARD, block_id)
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else:
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self.move(LEFT, block_id)
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# Increase search counter
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self.search_counter += 1
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elif dir == FORWARD:
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self.set_servo(LEFT, 100)
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self.set_servo(RIGHT, -100)
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elif dir == BACKWARD:
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self.set_servo(LEFT, -100)
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self.set_servo(RIGHT, 100)
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def sleep(self, delay, block_id = None):
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# Check for valid delay
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assert delay > 0
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# Split the delay into 50ms chunks
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for j in range(0, delay, 50):
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# Check for forceful termination
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if self.terminate:
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# Terminate the delay
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return
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else:
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sleep_ms(50)
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