212 lines
6.3 KiB
Python
212 lines
6.3 KiB
Python
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
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# LEDs
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ENEMY = 0
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STATUS = 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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FORWARD = 3
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BACKWARD = 4
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config = ujson.loads(open("config.json", "r").read())
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class Sumorobot(object):
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# ultrasonic distance sensor
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echo = Pin(14, Pin.IN)
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trigger = Pin(27, Pin.OUT)
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# Servo PWM-s
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pwm_left = PWM(Pin(15), freq=50, duty=0)
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pwm_right = PWM(Pin(4), freq=50, duty=0)
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# bottom LED
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bottom_led = Pin(5, Pin.OUT)
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# bottom LED is in reverse polarity
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bottom_led.value(1)
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# sensor LEDs
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enemy_led = Pin(16, Pin.OUT)
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left_line_led = Pin(17, Pin.OUT)
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right_line_led = Pin(12, Pin.OUT)
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# battery gauge
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adc_battery = ADC(Pin(32))
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# the phototransistors
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adc_line_left = ADC(Pin(34))
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adc_line_right = ADC(Pin(33))
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# Set reference voltage to 3.3V
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adc_battery.atten(ADC.ATTN_11DB)
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adc_line_left.atten(ADC.ATTN_11DB)
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adc_line_right.atten(ADC.ATTN_11DB)
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# for highlighting blockly blocks
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highlight_block = None
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# for terminating sleep
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terminate = False
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def __init__(self, highlight_block):
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self.highlight_block = highlight_block
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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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self.bottom_led.value(0 if state else 1)
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elif led == ENEMY:
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self.enemy_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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def get_battery_voltage(self):
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return round(config["battery_coeff"] * (self.adc_battery.read() * 3.3 / 4096), 2)
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def get_enemy_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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enemy_score = 0
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def is_enemy(self, block_id = None):
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# if block_id given and blockly highlight is on
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if block_id and config["blockly_highlight"]:
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self.highlight_block(block_id)
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# get the enemy distance
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self.enemy_distance = self.get_enemy_distance()
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# if the enemy is close and the ping actually returned
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if self.enemy_distance < config["ultrasonic_distance"] and self.enemy_distance > 0:
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# if not maximum score
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if self.enemy_score < 5:
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# increase the enemy score
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self.enemy_score += 1
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# if no enemy was detected
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else:
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# if not lowest score
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if self.enemy_score > 0:
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# decrease the enemy score
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self.enemy_score -= 1
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# if the sensor saw something more than 2 times
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enemy = True if self.enemy_score > 2 else False
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# trigger enemy LED
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self.set_led(ENEMY, enemy)
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return enemy
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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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# if block_id given and blockly highlight is on
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if block_id and config["blockly_highlight"]:
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self.highlight_block(block_id)
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# return the given line sensor value
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if dir == LEFT:
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line = abs(self.adc_line_left.read() - 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.adc_line_right.read() - 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 detach_servos(self):
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self.set_servo(LEFT, 0)
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self.set_servo(RIGHT, 0)
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prev_speed = {LEFT: 0, RIGHT: 0}
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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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self.pwm_left.duty(int(33 + config["left_servo_tuning"] + speed * 33 / 100)) # -100 ... 100 to 33 .. 102
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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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self.pwm_right.duty(int(33 + config["right_servo_tuning"] + speed * 33 / 100)) # -100 ... 100 to 33 .. 102
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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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# if block_id given and blockly highlight is on
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if block_id and config["blockly_highlight"]:
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self.highlight_block(block_id)
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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 == 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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# if block_id given and blockly highlight is on
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if block_id and config["blockly_highlight"]:
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self.highlight_block(block_id)
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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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