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Ajout des programmes des cartes micro:bit pour le jumeau numérique Maqueen
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22
rp.py
22
rp.py
@ -7,10 +7,11 @@ import numpy as np
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import time
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import sys
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import os
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import webbrowser
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import webbrowser # Lien internet
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import threading # Multithreading
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import xml.etree.ElementTree as ET # Creating/parsing XML file
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import runpy
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import runpy # Execution de script Python légère (sans import)
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# import serial # Liaison série (jumeau numérique)
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import rp_map1 as rp_map # Map definition
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import rp_doc # Documentation
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@ -125,6 +126,15 @@ def points_maj (cont):
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obj=scene.objects['Rover']
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obj['w_position']=str(round(obj.worldPosition.x,3))+","+str(round(obj.worldPosition.y,3))+","+str(round(obj.worldPosition.z,3))
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# Jumeau numérique
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# if scene.objects['Commands']['twins'] and scene.objects['Points-Twins'].visible == False:
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# scene.objects['Points-Twins'].setVisible(True,True)
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# scene.objects['Points-Twins-text'].setVisible(True,False)
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# scene.objects['Commands']['twins_port'] = port
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# scene.objects['Commands']['twins_speed'] = speed
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# scene.objects['Commands']['twins'] = True
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###############################################################################
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# Terrain
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###############################################################################
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@ -431,6 +441,8 @@ def cmd_init():
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scene.objects['Grid-v'].setVisible(False,True)
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scene.objects['Points-Map-text']['Text']=""
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scene.objects['Points-Map-text'].setVisible(True,False)
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scene.objects['Points-Twins'].setVisible(False,True)
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scene.objects['Points-Twins-text'].setVisible(False,False)
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# scene.objects['Info-1-text'].setVisible(False,False)
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# scene.objects['Info-2-text'].setVisible(False,False)
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@ -1017,6 +1029,9 @@ def tablet_close ():
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# Overlay
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scene.objects['Points'].setVisible(True,True)
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if scene.objects['Commands']['twins'] ==False:
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scene.objects['Points-Twins'].setVisible(False,True)
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scene.objects['Points-Twins-text'].setVisible(False,False)
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scene.objects['Commands'].setVisible(True,True)
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scene.objects['Camera'].setVisible(True,True)
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scene.active_camera = scene.objects["Camera"]
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@ -1258,6 +1273,9 @@ def store_close():
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# Overlay
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scene.objects['Points'].setVisible(True,True)
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if scene.objects['Commands']['twins'] ==False:
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scene.objects['Points-Twins'].setVisible(False,True)
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scene.objects['Points-Twins-text'].setVisible(False,False)
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scene.objects['Commands'].setVisible(True,True)
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scene.objects['Camera'].setVisible(True,True)
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scene.active_camera = scene.objects["Camera"]
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@ -29,6 +29,12 @@ from rp_lib import * # Bibliothèque Ropy
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def commandes():
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# Ecrire votre code ici ...
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rp_jumeau('/dev/ttyACM0', 115200)
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rp_avancer()
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rp_gauche()
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rp_avancer()
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rp_avancer()
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rp_fin() # A garder
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@ -1,6 +1,6 @@
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<data>
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<config>
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<speed>1.0</speed>
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<speed>4.0</speed>
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<sound>False</sound>
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<cam>
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<worldPosition.x>0.0057830810546875</worldPosition.x>
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@ -14,7 +14,7 @@
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</config>
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<mission>
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<current>1</current>
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<level>1</level>
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<level>2</level>
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</mission>
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<upgrade>
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<battery>False</battery>
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78
rp_lib.py
78
rp_lib.py
@ -29,13 +29,6 @@ import rp_map1 as rp_map # Map definition
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scene = bge.logic.getCurrentScene()
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debug_mvt = scene.objects['Terrain']['debug_mvt']
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# twins = scene.objects['Terrain']['twins']
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twins=True
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# Paramétrage de la communication avec la carte de communication (Arduino, Micro:bit)
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#serial_port='COM5' # Windows
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serial_port='/dev/ttyACM0' # GNU/Linux
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serial_baud=9600 # 115200
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# Sounds
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audiodev = aud.Device()
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@ -46,6 +39,9 @@ threads_cmd=[]
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threads_gostore=[]
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debug_thread = scene.objects['Terrain']['debug_thread']
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# Jumeau numérique
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twins_serial = None
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# UPBGE constants
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JUST_ACTIVATED = bge.logic.KX_INPUT_JUST_ACTIVATED
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JUST_RELEASED = bge.logic.KX_INPUT_JUST_RELEASED
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@ -209,7 +205,7 @@ def rp_avancer ():
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if debug_mvt:
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print ("rp_avancer()")
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scene.objects['Points']['step'] +=1
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if twins:
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if scene.objects['Commands']['twins']:
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serial_msg = "a\n"
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serial_comm.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
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@ -330,7 +326,7 @@ def rp_reculer ():
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if (debug_mvt):
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print ("rp_reculer()")
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scene.objects['Points']['step'] +=1
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if twins:
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if scene.objects['Commands']['twins']:
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serial_msg = "r\n"
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serial_comm.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
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@ -399,7 +395,7 @@ def rp_gauche ():
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print ("rp_gauche()")
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scene.objects['Points']['step'] +=1
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step=math.pi/2 # Pas angulaire
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if twins:
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if scene.objects['Commands']['twins']:
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serial_msg = "g\n"
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serial_comm.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
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@ -448,7 +444,7 @@ def rp_droite ():
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print ("rp_droite()")
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scene.objects['Points']['step'] +=1
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step=math.pi/2 # Pas angulaire
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if twins:
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if scene.objects['Commands']['twins']:
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serial_msg = "d\n"
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serial_comm.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
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@ -492,9 +488,12 @@ def rp_marquer ():
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if obj['stop']:
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return False
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# Points et console
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# Points, console et jumeau numérique
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if (debug_mvt):
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print ("rp_marquer() -> balise #"+ str(len(scene.objects['Terrain']['map_tile_beacon'])))
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if scene.objects['Commands']['twins']:
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serial_msg = "m\n"
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serial_comm.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
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rp_tempo (0.1)
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x = obj.worldPosition.x
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y = obj.worldPosition.y
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@ -761,8 +760,8 @@ def rp_batterie ():
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def rover_colision_montain (back):
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obj=scene.objects['Rover']
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# Jumeau
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if twins:
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# Jumeau numérique
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if scene.objects['Commands']['twins']:
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serial_msg = "c\n"
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serial_comm.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
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@ -821,8 +820,8 @@ def rover_colision_montain (back):
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def rover_colision_station (back):
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obj=scene.objects['Rover']
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# Jumeau
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if twins:
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# Jumeau numérique
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if scene.objects['Commands']['twins']:
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serial_msg = "c\n"
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serial_comm.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
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@ -989,8 +988,8 @@ def rover_drill (x,y):
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scene.objects['Sun'].applyMovement((0, 0, 0), True)
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rp_tempo (0.1)
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# Jumeau
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if twins:
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# Jumeau numérique
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if scene.objects['Commands']['twins']:
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serial_msg = "f\n"
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serial_comm.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
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@ -1068,7 +1067,7 @@ def rover_drill (x,y):
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# if "tile_dirtHigh" in obj_i.name:
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# if round(obj_i.worldPosition.x) == x and round(obj_i.worldPosition.y) == y :
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# obj_i.setVisible(False, True)
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###############################################################################
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# Temporisation
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###############################################################################
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@ -1086,6 +1085,47 @@ def rp_tempo (duration):
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time.sleep(0.001)
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# # pass
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###############################################################################
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# Jumeau numérique
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###############################################################################
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# Paramétrage de la communication avec la carte de communication (Arduino, Micro:bit)
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def rp_jumeau(port, speed):
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scene.objects['Points-Twins'].setVisible(True,True)
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scene.objects['Points-Twins-text'].setVisible(True,False)
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twins_serial = getSerialOrNone(port,speed)
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if twins_serial is not None:
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scene.objects['Commands']['twins'] = True
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scene.objects['Commands']['twins_port'] = port
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scene.objects['Commands']['twins_speed'] = speed
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scene.objects['Points-Twins-text']['Text'] = "Connection\nétablie"
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print (twins_serial)
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else:
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scene.objects['Commands']['twins'] = False
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scene.objects['Points-Twins-text']['Text'] = "Port pas \nprêt"
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# ser = serial.Serial('/dev/ttyACM0',38400) # 6 fps
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# ser = serial.Serial('/dev/ttyACM0',9600) # 2 fps
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#serial_port='COM5' # Windows
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# serial_port='/dev/ttyACM0' # GNU/Linux
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# 115200 -> 7 fps
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# 38400 -> 6 fps
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# 9600 -> 2 fps
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def getSerialOrNone(port,speed):
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try:
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return serial.Serial(port,speed)
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except:
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return None
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def rp_jumeau_close():
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twins_serial.close() # Fermer proprement le port série
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scene.objects['Commands']['twins'] = False
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scene.objects['Points-Twins'].setVisible(False,True)
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scene.objects['Points-Twins-text'].setVisible(False,False)
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###############################################################################
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# Fonction bas niveau
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###############################################################################
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@ -87,11 +87,11 @@ def open2 (cont):
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scene.objects['Camera'].setVisible(False,True)
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# Animation de la bulle
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scene.objects['Bubble-1-text']['Text']="Salut !\n Souhaites tu\n acquerir des\n nouvelles\n ameliorations ?\n"
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scene.objects['Bubble-1-text']['Text']="Salut mon ami !\n Souhaites tu\n acquerir des\n nouvelles\n ameliorations ?\n"
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if scene.objects['Points']['upgrade_nb'] == 4 :
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scene.objects['Bubble-1-text']['Text']="Resalut ! \n Rien de neuf \n pour le moment. \n Il fait beau \n aujourd'hui, non ?"
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if scene.objects['Points']['upgrade_nb'] < 4 and scene.objects['Points']['upgrade_credit']==0:
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scene.objects['Bubble-1-text']['Text']="Salut ! Si tu veux \n des nouvelles \n ameliorations,\n il te faut passer \n des missions !"
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scene.objects['Bubble-1-text']['Text']="Des missions \n tu passeras, \n des crédits \n tu auras !"
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start = 1
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end = 20
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20
twins/microbit-lecteur_portserie.py
Normal file
20
twins/microbit-lecteur_portserie.py
Normal file
@ -0,0 +1,20 @@
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from microbit import uart, sleep
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from microbit import *
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###############################################################################
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# microbit-lecteur_portserie.py
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# @title: Lecteur du port serie d'une carte micro:bit
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# @project: Ropy (Blender-EduTech)
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###############################################################################
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uart.init(baudrate= 115200) # Initialisation du port série
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while True:
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while not uart.any(): # Attente d'un message
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pass
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display.scroll('ok : ') # Réception d'une message
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content = uart.readline()
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display.scroll(content[:-1]) # Affichage du message sans le '/n'
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sleep(400)
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38
twins/rp_maqueen-relay.py
Normal file
38
twins/rp_maqueen-relay.py
Normal file
@ -0,0 +1,38 @@
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from microbit import uart, sleep
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from microbit import *
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###############################################################################
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# rp_twins_maqueen-relay.py
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# @title: Jumeau Maqueen : Programme de la carte microbit du relai
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# @project: Ropy (Blender-EduTech)
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# @lang: fr
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# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
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# @copyright: Copyright (C) 2022 Philippe Roy
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# @license: GNU GPL
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###############################################################################
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###############################################################################
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# Initialisation
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###############################################################################
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led_image = Image("00000:00000:00900:00000:00000")
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display.show(led_image) # Témoin de fonctionnement
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# display.scroll("Maqueen manette")
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radio.config(group=1)
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radio.on()
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uart.init(baudrate= 115200) # Initialisation du port série
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###############################################################################
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# Écoute du port série en relayage vers la radio
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###############################################################################
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while True:
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while not uart.any(): # Attente d'un message
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pass
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display.scroll('ok : ') # Réception d'une message
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content = uart.readline()
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display.scroll(content[:-1]) # Affichage du message sans le '/n'
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sleep(400)
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24
twins/rp_maqueen-relay.py.~1~
Normal file
24
twins/rp_maqueen-relay.py.~1~
Normal file
@ -0,0 +1,24 @@
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from microbit import uart, sleep
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from microbit import *
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###############################################################################
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# rp_twins_maqueen-beacon.py
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# @title: Jumeau Maqueen : Programme de la carte microbit du relai
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# @project: Ropy (Blender-EduTech)
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# @lang: fr
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# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
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# @copyright: Copyright (C) 2022 Philippe Roy
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# @license: GNU GPL
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###############################################################################
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uart.init(baudrate= 115200) # Initialisation du port série
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while True:
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while not uart.any(): # Attente d'un message
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pass
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display.scroll('ok : ') # Réception d'une message
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content = uart.readline()
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display.scroll(content[:-1]) # Affichage du message sans le '/n'
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sleep(400)
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113
twins/rp_maqueen-robot.py
Executable file
113
twins/rp_maqueen-robot.py
Executable file
@ -0,0 +1,113 @@
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from microbit import *
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from machine import *
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import music
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import radio
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###############################################################################
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# rp_maqueen-robot.py
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# @title: Jumeau Maqueen : Programme de la carte microbit du robot
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# @project: Ropy (Blender-EduTech)
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# @lang: fr
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# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
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# @copyright: Copyright (C) 2022 Philippe Roy
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# @license: GNU GPL
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#
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# Programme d'execution des ordres de la manette pour le robot Maqueen#
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###############################################################################
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# ###############################################################################
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# Initialisation
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# ###############################################################################
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led_image = Image('00000:00000:00900:00000:00000')
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display.show(led_image) # Témoin de fonctionnement
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radio.config(group=1, queue=1, length=8)
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radio.on()
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# ###############################################################################
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# Boucle principale
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# ###############################################################################
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while True:
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v_avancer = 50
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v_tourner = 50
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v_tourner_faible = 25
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# Lecture de l'ordre
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ordre=radio.receive()
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# Avancer
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if ordre=="AV":
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display.show(Image.ARROW_N)
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pin8.write_digital(1) # Led avant gauche
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pin12.write_digital(1) # Led avant gauche
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i2c.write(0x10, bytearray([0x00, 0x0, v_avancer])) # Moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x0, v_avancer])) # Moteur droit
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# Reculer
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if ordre=="RE":
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display.show(Image.ARROW_S)
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pin8.write_digital(1) # Led avant gauche
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pin12.write_digital(1) # Led avant gauche
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i2c.write(0x10, bytearray([0x00, 0x1, v_avancer])) # Moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x1, v_avancer])) # Moteur droit
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# Gauche
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if ordre=="GA":
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display.show(Image.ARROW_W)
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pin8.write_digital(1) # Led avant gauche
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pin12.write_digital(0) # Led avant droit
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i2c.write(0x10, bytearray([0x00, 0x0, 0])) # Moteur gauche
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i2c.write(0x10, bytearray([0x02, 0x0, v_tourner])) # Moteur droit
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# Avancer + gauche
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if ordre=="AG":
|
||||
display.show(Image.ARROW_W)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, v_tourner_faible])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x0, v_tourner])) # Moteur droit
|
||||
|
||||
# Reculer + gauche
|
||||
if ordre=="RG":
|
||||
display.show(Image.ARROW_W)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x1, v_tourner_faible])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x1, v_tourner])) # Moteur droit
|
||||
|
||||
# Droite
|
||||
if ordre=="DR":
|
||||
display.show(Image.ARROW_E)
|
||||
pin8.write_digital(0) # Led avant gauche
|
||||
pin12.write_digital(1) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, v_tourner])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x0, 0])) # Moteur droit
|
||||
|
||||
# Avancer + droite
|
||||
if ordre=="AD":
|
||||
display.show(Image.ARROW_W)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, v_tourner])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x0, v_tourner_faible])) # Moteur droit
|
||||
|
||||
# Reculer + droite
|
||||
if ordre=="RD":
|
||||
display.show(Image.ARROW_W)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x1, v_tourner])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x1, v_tourner_faible])) # Moteur droit
|
||||
|
||||
# Stop
|
||||
if ordre=="ST":
|
||||
display.show(led_image) # Témoin de fonctionnement
|
||||
pin8.write_digital(0) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, 0]))
|
||||
i2c.write(0x10, bytearray([0x02, 0x1, 0]))
|
||||
|
||||
# Cadencement
|
||||
# sleep(10)
|
||||
113
twins/rp_maqueen-robot.py.~1~
Executable file
113
twins/rp_maqueen-robot.py.~1~
Executable file
@ -0,0 +1,113 @@
|
||||
from microbit import *
|
||||
from machine import *
|
||||
import music
|
||||
import radio
|
||||
|
||||
###############################################################################
|
||||
# rp_twins_maqueen-robot.py
|
||||
# @title: Jumeau Maqueen : Programme de la carte microbit du robot
|
||||
# @project: Ropy (Blender-EduTech)
|
||||
# @lang: fr
|
||||
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
|
||||
# @copyright: Copyright (C) 2022 Philippe Roy
|
||||
# @license: GNU GPL
|
||||
#
|
||||
# Programme d'execution des ordres de la manette pour le robot Maqueen#
|
||||
###############################################################################
|
||||
|
||||
# ###############################################################################
|
||||
# Initialisation
|
||||
# ###############################################################################
|
||||
|
||||
led_image = Image('00000:00000:00900:00000:00000')
|
||||
display.show(led_image) # Témoin de fonctionnement
|
||||
radio.config(group=1, queue=1, length=8)
|
||||
radio.on()
|
||||
|
||||
# ###############################################################################
|
||||
# Boucle principale
|
||||
# ###############################################################################
|
||||
|
||||
while True:
|
||||
|
||||
v_avancer = 50
|
||||
v_tourner = 50
|
||||
v_tourner_faible = 25
|
||||
|
||||
# Lecture de l'ordre
|
||||
ordre=radio.receive()
|
||||
|
||||
# Avancer
|
||||
if ordre=="AV":
|
||||
display.show(Image.ARROW_N)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(1) # Led avant gauche
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, v_avancer])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x0, v_avancer])) # Moteur droit
|
||||
|
||||
# Reculer
|
||||
if ordre=="RE":
|
||||
display.show(Image.ARROW_S)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(1) # Led avant gauche
|
||||
i2c.write(0x10, bytearray([0x00, 0x1, v_avancer])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x1, v_avancer])) # Moteur droit
|
||||
|
||||
# Gauche
|
||||
if ordre=="GA":
|
||||
display.show(Image.ARROW_W)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, 0])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x0, v_tourner])) # Moteur droit
|
||||
|
||||
# Avancer + gauche
|
||||
if ordre=="AG":
|
||||
display.show(Image.ARROW_W)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, v_tourner_faible])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x0, v_tourner])) # Moteur droit
|
||||
|
||||
# Reculer + gauche
|
||||
if ordre=="RG":
|
||||
display.show(Image.ARROW_W)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x1, v_tourner_faible])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x1, v_tourner])) # Moteur droit
|
||||
|
||||
# Droite
|
||||
if ordre=="DR":
|
||||
display.show(Image.ARROW_E)
|
||||
pin8.write_digital(0) # Led avant gauche
|
||||
pin12.write_digital(1) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, v_tourner])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x0, 0])) # Moteur droit
|
||||
|
||||
# Avancer + droite
|
||||
if ordre=="AD":
|
||||
display.show(Image.ARROW_W)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, v_tourner])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x0, v_tourner_faible])) # Moteur droit
|
||||
|
||||
# Reculer + droite
|
||||
if ordre=="RD":
|
||||
display.show(Image.ARROW_W)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x1, v_tourner])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x1, v_tourner_faible])) # Moteur droit
|
||||
|
||||
# Stop
|
||||
if ordre=="ST":
|
||||
display.show(led_image) # Témoin de fonctionnement
|
||||
pin8.write_digital(0) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, 0]))
|
||||
i2c.write(0x10, bytearray([0x02, 0x1, 0]))
|
||||
|
||||
# Cadencement
|
||||
# sleep(10)
|
||||
114
twins/rp_twins-maqueen.py.~1~
Executable file
114
twins/rp_twins-maqueen.py.~1~
Executable file
@ -0,0 +1,114 @@
|
||||
from microbit import *
|
||||
from machine import *
|
||||
import music
|
||||
import radio
|
||||
|
||||
###############################################################################
|
||||
# maqueen_robot.py:
|
||||
# @title: Robot Maqueen
|
||||
# @project:
|
||||
# @lang: fr
|
||||
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
|
||||
# @copyright: Copyright (C) 2022 Philippe Roy
|
||||
# @license: GNU GPL
|
||||
#
|
||||
# Programme d'execution des ordres de la manette pour le robot Maqueen
|
||||
#
|
||||
###############################################################################
|
||||
|
||||
# ###############################################################################
|
||||
# Initialisation
|
||||
# ###############################################################################
|
||||
|
||||
led_image = Image('00000:00000:00900:00000:00000')
|
||||
display.show(led_image) # Témoin de fonctionnement
|
||||
radio.config(group=1, queue=1, length=8)
|
||||
radio.on()
|
||||
|
||||
# ###############################################################################
|
||||
# Boucle principale
|
||||
# ###############################################################################
|
||||
|
||||
while True:
|
||||
|
||||
v_avancer = 50
|
||||
v_tourner = 50
|
||||
v_tourner_faible = 25
|
||||
|
||||
# Lecture de l'ordre
|
||||
ordre=radio.receive()
|
||||
|
||||
# Avancer
|
||||
if ordre=="AV":
|
||||
display.show(Image.ARROW_N)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(1) # Led avant gauche
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, v_avancer])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x0, v_avancer])) # Moteur droit
|
||||
|
||||
# Reculer
|
||||
if ordre=="RE":
|
||||
display.show(Image.ARROW_S)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(1) # Led avant gauche
|
||||
i2c.write(0x10, bytearray([0x00, 0x1, v_avancer])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x1, v_avancer])) # Moteur droit
|
||||
|
||||
# Gauche
|
||||
if ordre=="GA":
|
||||
display.show(Image.ARROW_W)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, 0])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x0, v_tourner])) # Moteur droit
|
||||
|
||||
# Avancer + gauche
|
||||
if ordre=="AG":
|
||||
display.show(Image.ARROW_W)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, v_tourner_faible])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x0, v_tourner])) # Moteur droit
|
||||
|
||||
# Reculer + gauche
|
||||
if ordre=="RG":
|
||||
display.show(Image.ARROW_W)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x1, v_tourner_faible])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x1, v_tourner])) # Moteur droit
|
||||
|
||||
# Droite
|
||||
if ordre=="DR":
|
||||
display.show(Image.ARROW_E)
|
||||
pin8.write_digital(0) # Led avant gauche
|
||||
pin12.write_digital(1) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, v_tourner])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x0, 0])) # Moteur droit
|
||||
|
||||
# Avancer + droite
|
||||
if ordre=="AD":
|
||||
display.show(Image.ARROW_W)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, v_tourner])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x0, v_tourner_faible])) # Moteur droit
|
||||
|
||||
# Reculer + droite
|
||||
if ordre=="RD":
|
||||
display.show(Image.ARROW_W)
|
||||
pin8.write_digital(1) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x1, v_tourner])) # Moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x1, v_tourner_faible])) # Moteur droit
|
||||
|
||||
# Stop
|
||||
if ordre=="ST":
|
||||
display.show(led_image) # Témoin de fonctionnement
|
||||
pin8.write_digital(0) # Led avant gauche
|
||||
pin12.write_digital(0) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, 0]))
|
||||
i2c.write(0x10, bytearray([0x02, 0x1, 0]))
|
||||
|
||||
# Cadencement
|
||||
# sleep(10)
|
||||
20
twins/rp_twins-microbit.py.~1~
Normal file
20
twins/rp_twins-microbit.py.~1~
Normal file
@ -0,0 +1,20 @@
|
||||
from microbit import uart, sleep
|
||||
from microbit import *
|
||||
|
||||
###############################################################################
|
||||
# microbit-lecteur_portserie.py
|
||||
# @title: Lecteur du port serie d'une carte micro:bit
|
||||
# @project: Ropy (Blender-EduTech)
|
||||
###############################################################################
|
||||
|
||||
uart.init(baudrate= 115200) # Initialisation du port série
|
||||
|
||||
while True:
|
||||
|
||||
while not uart.any(): # Attente d'un message
|
||||
pass
|
||||
|
||||
display.scroll('ok : ') # Réception d'une message
|
||||
content = uart.readline()
|
||||
display.scroll(content[:-1]) # Affichage du message sans le '/n'
|
||||
sleep(400)
|
||||
Loading…
x
Reference in New Issue
Block a user