forked from Telos4/RoboRally
use micropython driver for d1 mini motor shield
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74520ff438
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72
micropython_firmware/d1motor.py
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72
micropython_firmware/d1motor.py
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"""
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Source: https://bitbucket.org/thesheep/micropython-d1motor
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import d1motor
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from machine import I2C, Pin
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i2c = I2C(Pin(5), Pin(4), freq=100000)
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m0 = d1motor.Motor(0, i2c)
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m1 = d1motor.Motor(1, i2c)
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m0.speed(5000)
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"""
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import ustruct
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_STATE_BRAKE = const(0)
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_STATE_RIGHT = const(1) # clockwise
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_STATE_LEFT = const(2) # counter-clockwise
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_STATE_STOP = const(3)
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_STATE_SLEEP = const(4)
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class Motor:
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def __init__(self, index, i2c, address=0x30, standby_pin=None):
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if index not in (0, 1):
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raise ValueError("Index must be 0 or 1")
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self.index = index
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self.i2c = i2c
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self.address = address
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self.standby_pin = standby_pin
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self._speed = 0
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self._state = 0
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if standby_pin is not None:
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standby_pin.init(standby_pin.OUT, 0)
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self.frequency(1000)
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def frequency(self, frequency=None):
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if frequency is None:
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return self._pwm_frequency
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self._pwm_frequency = frequency
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self.i2c.writeto_mem(self.address, 0x00 | self.index,
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ustruct.pack(">BH", 0x00, frequency))
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def update(self):
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if self.standby_pin is not None:
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self.standby_pin.value(not self._state == _STATE_SLEEP)
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self.i2c.writeto_mem(self.address, 0x10 | self.index,
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ustruct.pack(">BH", self._state, self._speed))
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def speed(self, speed=None):
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if speed is None:
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return self._speed
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if speed > 0:
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self._speed = min(10000, max(1, speed))
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self._state = _STATE_RIGHT
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elif speed < 0:
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self._speed = min(10000, max(1, -speed))
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self._state = _STATE_LEFT
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else:
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self._speed = 0
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self._state = _STATE_STOP
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self.update()
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def sleep(self):
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self._speed = 0
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self._state = _STATE_SLEEP
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self.update()
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def brake(self):
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self._speed = 0
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self._state = _STATE_BRAKE
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self.update()
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@ -1,84 +1,30 @@
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import machine
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from machine import I2C, Pin
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import d1motor
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import time
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import usocket
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class Motor:
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def __init__(self, enable, dir1, dir2):
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self.enable_pin = machine.Pin(enable, machine.Pin.OUT)
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self.enable_pwm = machine.PWM(self.enable_pin)
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self.enable_pwm.freq(500)
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self.dir1_pin = machine.Pin(dir1, machine.Pin.OUT)
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self.dir2_pin = machine.Pin(dir2, machine.Pin.OUT)
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self.direction = 1 # default direction: dir1_pin = HIGH, dir2_pin = LOW
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self.reverse()
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def reverse(self):
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self.direction = not self.direction
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self.dir1_pin.value(self.direction)
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self.dir2_pin.value(not self.direction)
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def control(self, value):
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if value > 0.0: # forward
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if not self.direction: # switch direction if necessary
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self.reverse()
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else: # backward
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if self.direction: # switch direction if necessary
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self.reverse()
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# apply value as pwm signal
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self.enable_pwm.duty(int(abs(value)*1023))
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class Robot:
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def __init__(self):
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print("setting up I2C")
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d1 = Pin(5)
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d2 = Pin(4)
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i2c = I2C(scl=d1, sda=d2)
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addr = i2c.scan()[0]
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print("i2c scan = {}".format(addr))
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print("setting up motors")
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self.m1 = Motor(4, 16, 5)
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self.m2 = Motor(14, 0, 2)
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self.m1 = d1motor.Motor(0, i2c, address=addr)
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self.m2 = d1motor.Motor(1, i2c, address=addr)
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print("motor setup complete")
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# wait for connections on port 1234
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# setup socket for remote control
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print("setting up socket communication")
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self.socket = usocket.socket()
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self.addr = usocket.getaddrinfo('192.168.4.1', 1234)[0][-1]
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self.socket.bind(self.addr)
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print("setup complete")
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def forward(self, seconds):
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print("Onward, to glory!")
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self.m1.control(1.0)
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self.m2.control(1.0)
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time.sleep(seconds)
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self.m1.control(0.0)
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self.m2.control(0.0)
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def backward(self, seconds):
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print("Better retreat...")
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self.m1.control(-1.0)
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self.m2.control(-1.0)
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time.sleep(seconds)
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self.m1.control(0.0)
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self.m2.control(0.0)
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def spin_right(self, seconds):
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print("You spin my head right round, right round..")
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self.m1.control(1.0)
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self.m2.control(-1.0)
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time.sleep(seconds)
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self.m1.control(0.0)
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self.m2.control(0.0)
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def spin_left(self, seconds):
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print("spinning left")
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self.m1.control(-1.0)
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self.m2.control(1.0)
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time.sleep(seconds)
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self.m1.control(0.0)
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self.m2.control(0.0)
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def sequence(self):
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self.spin_left(0.3)
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self.spin_right(0.3)
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self.forward(0.5)
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self.backward(0.5)
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print("socket setup complete")
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def remote_control(self):
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print("waiting for connections on {}".format(self.addr))
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@ -90,7 +36,7 @@ class Robot:
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while listening:
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# expected data: '(u1, u2)'\n"
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# where ui = control for motor i
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# ui \in [-1.0, 1.0]
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# ui \in [10000, 10000]
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data = comm_socket.readline()
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data_str = data.decode()
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print("Data received: {}".format(data_str))
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@ -98,25 +44,25 @@ class Robot:
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print("processing data = {}".format(data_str))
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l = data_str.strip('()\n').split(',')
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print("l = {}".format(l))
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u1 = float(l[0])
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u1 = int(l[0])
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print("u1 = {}".format(u1))
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u2 = float(l[1])
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u2 = int(l[1])
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print("u2 = {}".format(u2))
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except ValueError:
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print("ValueError: Data has wrong format.")
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print("Data received: {}".format(data_str))
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print("Shutting down")
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u1 = u2 = 0.0
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u1 = u2 = 0
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listening = False
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except IndexError:
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print("IndexError: Data has wrong format.")
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print("Data received: {}".format(data_str))
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print("Shutting down")
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u1 = u2 = 0.0
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u1 = u2 = 0
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listening = False
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finally:
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self.m1.control(u1)
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self.m2.control(u2)
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self.m1.speed(u1)
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self.m2.speed(u2)
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wall_e = Robot()
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wall_e.remote_control()
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@ -16,24 +16,24 @@ while True:
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for event in events:
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if event.type == pygame.KEYDOWN:
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if event.key == pygame.K_LEFT:
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u1 = -1.0
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u2 = 1.0
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u1 = 10000
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u2 = -10000
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print("turn left: ({},{})".format(u1, u2))
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elif event.key == pygame.K_RIGHT:
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u1 = 1.0
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u2 = -1.0
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u1 = -10000
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u2 = 10000
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print("turn right: ({},{})".format(u1, u2))
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elif event.key == pygame.K_UP:
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u1 = 1.0
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u2 = 1.0
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u1 = -10000
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u2 = -10000
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print("forward: ({},{})".format(u1, u2))
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elif event.key == pygame.K_DOWN:
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u1 = -1.0
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u2 = -1.0
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u1 = 10000
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u2 = 10000
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print("forward: ({},{})".format(u1, u2))
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rc_socket.send('({},{})\n'.format(u1, u2))
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elif event.type == pygame.KEYUP:
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u1 = 0.0
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u2 = 0.0
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u1 = 0
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u2 = 0
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print("key released, resetting: ({},{})".format(u1, u2))
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rc_socket.send('({},{})\n'.format(u1, u2))
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