micropython/ports/nrf/examples/powerup.py

217 lines
6.3 KiB
Python

# This file is part of the MicroPython project, http://micropython.org/
#
# The MIT License (MIT)
#
# Copyright (c) 2017 Glenn Ruben Bakke
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE
# MicroPython controller for PowerUp 3.0 paper airplane
# https://www.poweruptoys.com/products/powerup-v3
#
# Examples is written for nrf52832, pca10040 using s132 bluetooth stack.
#
# Joystick shield pin mapping:
# - analog stick x-direction - ADC0 - P0.02/"P2"
# - buttons P0.13 - P0.16 / "P13", "P14", "P15", "P16"
#
# Example usage:
#
# from powerup import PowerUp3
# p = PowerUp3()
import time
from machine import ADC
from machine import Pin
from ubluepy import Peripheral, Scanner, constants
def bytes_to_str(bytes):
string = ""
for b in bytes:
string += chr(b)
return string
def get_device_names(scan_entries):
dev_names = []
for e in scan_entries:
scan = e.getScanData()
if scan:
for s in scan:
if s[0] == constants.ad_types.AD_TYPE_COMPLETE_LOCAL_NAME:
dev_names.append((e, bytes_to_str(s[2])))
return dev_names
def find_device_by_name(name):
s = Scanner()
scan_res = s.scan(500)
device_names = get_device_names(scan_res)
for dev in device_names:
if name == dev[1]:
return dev[0]
class PowerUp3:
def __init__(self):
self.x_adc = ADC(1)
self.btn_speed_up = Pin("P13", mode=Pin.IN, pull=Pin.PULL_UP)
self.btn_speed_down = Pin("P15", mode=Pin.IN, pull=Pin.PULL_UP)
self.btn_speed_full = Pin("P14", mode=Pin.IN, pull=Pin.PULL_UP)
self.btn_speed_off = Pin("P16", mode=Pin.IN, pull=Pin.PULL_UP)
self.x_mid = 0
self.calibrate()
self.connect()
self.loop()
def read_stick_x(self):
return self.x_adc.value()
def button_speed_up(self):
return not bool(self.btn_speed_up.value())
def button_speed_down(self):
return not bool(self.btn_speed_down.value())
def button_speed_full(self):
return not bool(self.btn_speed_full.value())
def button_speed_off(self):
return not bool(self.btn_speed_off.value())
def calibrate(self):
self.x_mid = self.read_stick_x()
def __str__(self):
return "calibration x: %i, y: %i" % (self.x_mid)
def map_chars(self):
s = self.p.getServices()
service_batt = s[3]
service_control = s[4]
self.char_batt_lvl = service_batt.getCharacteristics()[0]
self.char_control_speed = service_control.getCharacteristics()[0]
self.char_control_angle = service_control.getCharacteristics()[2]
def battery_level(self):
return int(self.char_batt_lvl.read()[0])
def speed(self, new_speed=None):
if new_speed is None:
return int(self.char_control_speed.read()[0])
else:
self.char_control_speed.write(bytearray([new_speed]))
def angle(self, new_angle=None):
if new_angle is None:
return int(self.char_control_angle.read()[0])
else:
self.char_control_angle.write(bytearray([new_angle]))
def connect(self):
dev = None
# connect to the airplane
while not dev:
dev = find_device_by_name("TailorToys PowerUp")
if dev:
self.p = Peripheral()
self.p.connect(dev.addr())
# locate interesting characteristics
self.map_chars()
def rudder_center(self):
if self.old_angle != 0:
self.old_angle = 0
self.angle(0)
def rudder_left(self, angle):
steps = angle // self.interval_size_left
new_angle = 60 - steps
if self.old_angle != new_angle:
self.angle(new_angle)
self.old_angle = new_angle
def rudder_right(self, angle):
steps = angle // self.interval_size_right
new_angle = -steps
if self.old_angle != new_angle:
self.angle(new_angle)
self.old_angle = new_angle
def throttle(self, speed):
if speed > 200:
speed = 200
elif speed < 0:
speed = 0
if self.old_speed != speed:
self.speed(speed)
self.old_speed = speed
def loop(self):
adc_threshold = 10
right_threshold = self.x_mid + adc_threshold
left_threshold = self.x_mid - adc_threshold
self.interval_size_left = self.x_mid // 60
self.interval_size_right = (255 - self.x_mid) // 60
self.old_angle = 0
self.old_speed = 0
while True:
time.sleep_ms(100)
# read out new angle
new_angle = self.read_stick_x()
if new_angle < 256:
if new_angle > right_threshold:
self.rudder_right(new_angle - self.x_mid)
elif new_angle < left_threshold:
self.rudder_left(new_angle)
else:
self.rudder_center()
# read out new speed
new_speed = self.old_speed
if self.button_speed_up():
new_speed += 25
elif self.button_speed_down():
new_speed -= 25
elif self.button_speed_full():
new_speed = 200
elif self.button_speed_off():
new_speed = 0
else:
pass
self.throttle(new_speed)