Lecteur série Arduino et Micro:bit
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35
rp.py
35
rp.py
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@ -11,9 +11,9 @@ 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 # Execution de script Python légère (sans import)
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# import serial # Liaison série (jumeau numérique)
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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_map1 as rp_map # Map definition
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import rp_doc # Documentation
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import rp_store # Store
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import rp_about # About
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@ -126,15 +126,6 @@ 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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@ -347,6 +338,16 @@ def terrain_grid_anim ():
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if scene.objects['Grid-u']['timer']>= 1:
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scene.objects['Grid-u']['anim'] = False
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###############################################################################
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# Jumeau
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###############################################################################
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def twins_listen():
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print ("a")
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serial_tmp= serial.Serial(scene.objects['Commands']['twins_port'],scene.objects['Commands']['twins_speed'])
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serial_msg = str(serial_tmp.readline())
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print (serial_msg)
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###############################################################################
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# Sons
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###############################################################################
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@ -1029,9 +1030,9 @@ 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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if scene.objects['Commands']['twins']:
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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'].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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@ -1273,9 +1274,9 @@ 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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if scene.objects['Commands']['twins']:
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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'].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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48
rp_cmd.py
48
rp_cmd.py
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@ -22,6 +22,10 @@ from rp_lib import * # Bibliothèque Ropy
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# Fonctions
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###############################################################################
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def mrp_avancer():
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rp_avancer()
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rp_marquer()
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###############################################################################
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# Commandes
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###############################################################################
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@ -29,17 +33,43 @@ 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_jumeau_config(50, 20, 90) # (vitesse, temps_avancer, temps_rotation)
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rp_jumeau('/dev/ttyACM1', 115200)
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rp_tempo(1)
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print (1)
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rp_tempo(1)
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print (2)
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rp_tempo(1)
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print (3)
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rp_tempo(1)
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print (4)
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rp_gauche()
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# rp_marquer()
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rp_avancer()
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# rp_marquer()
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# rp_avancer()
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# rp_marquer()
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# rp_serie_msg("Go !")
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# txt =""
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# while True:
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# rp_tempo(0.1)
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# pass
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# txt=rp_serie_rcpt()
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# print (txt)
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# if txt !="":
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# print (txt)
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# break
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# rp_jumeau_config(50, 20, 90) # (vitesse, temps_avancer, temps_rotation)
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# rp_tempo(1)
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# rp_gauche()
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# mrp_avancer()
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# rp_droite()
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# mrp_avancer()
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# mrp_avancer()
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# mrp_avancer()
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# mrp_avancer()
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# rp_droite()
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# mrp_avancer()
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# mrp_avancer()
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rp_jumeau_close()
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rp_fin() # A garder
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###############################################################################
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@ -3,9 +3,9 @@
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<speed>1.0</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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<worldPosition.y>-26.440298080444336</worldPosition.y>
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<worldPosition.z>20.22315788269043</worldPosition.z>
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<worldPosition.x>-10.94022274017334</worldPosition.x>
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<worldPosition.y>-40.040931701660156</worldPosition.y>
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<worldPosition.z>30.490596771240234</worldPosition.z>
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</cam>
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<screen>
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<width>1280</width>
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@ -14,12 +14,12 @@
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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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<beacon>False</beacon>
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<paint>False</paint>
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<speed>False</speed>
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<speed>True</speed>
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</upgrade>
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</data>
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24
rp_lib.py
24
rp_lib.py
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@ -219,6 +219,7 @@ def rp_avancer ():
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# Animation rapide
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if scene.objects['Commands']['speed'] >= 10 and scene.objects['Points']['step']> 2: # A tendance à planter sur les premiers mouvements en rapide + balisage
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rp_tempo (0.1)
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x0 = obj.worldPosition.x
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y0 = obj.worldPosition.y
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z0 = obj.worldPosition.z
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@ -250,7 +251,7 @@ def rp_avancer ():
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# rp_tempo (0.1*step)
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# Animation
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if scene.objects['Commands']['speed'] < 10:
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if scene.objects['Commands']['speed'] < 10 or scene.objects['Points']['step']<=2:
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start = 1
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end = 100
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layer = 0
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@ -340,6 +341,7 @@ def rp_reculer ():
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# Animation rapide
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if scene.objects['Commands']['speed'] >= 10 and scene.objects['Points']['step']> 2: # A tendance à planter sur les premiers mouvements en rapide + balisage
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rp_tempo (0.1)
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x0 = obj.worldPosition.x
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y0 = obj.worldPosition.y
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z0 = obj.worldPosition.z
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@ -409,6 +411,7 @@ def rp_gauche ():
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# Animation rapide
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if scene.objects['Commands']['speed'] >= 10:
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rp_tempo (0.1)
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obj.applyRotation((0, 0, step), True)
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rp_tempo (0.1)
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return True
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@ -458,6 +461,7 @@ def rp_droite ():
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# Rapide
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if scene.objects['Commands']['speed'] >= 10:
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rp_tempo (0.1)
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obj.applyRotation((0, 0, -step), True)
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rp_tempo (0.1)
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return True
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@ -896,6 +900,11 @@ def rover_goal ():
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print ("Goal !!")
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obj['stop'] = True
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# Jumeau numérique
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if scene.objects['Commands']['twins']:
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serial_msg = "OB\n"
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twins_serial.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
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# Animation
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start = 1
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end = 160
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@ -1165,10 +1174,17 @@ def rp_serie_msg(text):
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global twins_serial
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twins_serial.write(text.encode())
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def rp_serie_rcpt():
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def twins_listen():
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global twins_serial
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print ("Not yet implemented") # FIXME
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return ("Not yet implemented")
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print ("a")
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serial_msg = str(twins_serial.readline())
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print (serial_msg)
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def rp_serie_rcpt():
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pass
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# global twins_serial
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# print (twins_serial.readline())
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# return str(twins_serial.readline()) # Communication série : arduino|micro:bit -> modele 3d
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###############################################################################
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# Fonction bas niveau
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@ -0,0 +1,103 @@
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/******************************************************************************
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* arduino-serialreader.ino
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* @title: Lecteur du port serie d'une carte arduino
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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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* Pupitre
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******************************************************************************/
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// Adressage Led Arduino
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/* const int led = 13; // Led de mouvement (onboard) */
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/* const int led_com = 10; // Led de communication modele 3d-> arduino */
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const int bt = 2; // Bouton
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const int v = 3; // Voyant
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/******************************************************************************
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* Communication serie
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******************************************************************************/
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String serial_msg = ""; // Message
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bool serial_msg_complet = false; // Flag de message complet
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/******************************************************************************
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* Initialisation
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******************************************************************************/
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void setup() {
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pinMode(bt, INPUT); // Bouton
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pinMode(v, OUTPUT); // Voyant
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/* pinMode(led, OUTPUT); // Led de mouvement */
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/* pinMode(led_com, OUTPUT); // Led de communication modele 3d-> arduino */
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digitalWrite(v, LOW);
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/* digitalWrite(led, LOW); */
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/* digitalWrite(led_com, LOW); */
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Serial.begin(115200); // Moniteur serie
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}
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/******************************************************************************
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* Boucle principale
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******************************************************************************/
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void loop() {
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/*****
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* Communication : modele 3d -> arduino
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*****/
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if (serial_msg_complet) {
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if (serial_msg =="S\n") bt_num=true; // S pour Set
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if (serial_msg =="R\n") bt_num=false; // R pour Reset
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Serial.println("Echo : "+serial_msg);
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serial_msg = "";
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serial_msg_complet = false;
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}
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/*****
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* Bouton (arduino -> modele 3d)
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*
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* Bouton physique : LOW = actif et HIGH = pas actif
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*****/
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if digitalRead(bt) == LOW {
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Serial.println("B");
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}
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/*****
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* Yoyant modele 3d-> arduino
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*
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* Bouton numérique (modele 3d) : true = actif et false = pas actif
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*****/
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if bt_num == true {
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digitalWrite(v, HIGH);
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}
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if bt_num == false {
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digitalWrite(v, LOW);
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}
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/* delay(300); */
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}
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/******************************************************************************
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* Evenements provoques par la communication serie
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******************************************************************************/
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void serialEvent() {
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while (Serial.available()) {
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char inChar = (char)Serial.read();
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serial_msg += inChar;
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if (inChar == '\n') {
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serial_msg_complet = true;
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}
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}
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}
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@ -2,7 +2,7 @@ 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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# microbit-serialreader.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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@ -12,9 +12,18 @@ 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'un message
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# Envoi d'un message
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if button_a.is_pressed() :
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display.scroll("-> A")
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uart.write("A")
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if button_b.is_pressed() :
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display.scroll("-> B")
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uart.write("B")
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# pass
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# Réception d'un message
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display.scroll('<- ')
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msg = uart.readline()
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display.scroll(msg[:-1]) # Affichage du message sans le '/n'
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display.scroll(str(msg[0])+" "+str(msg[1])) # Affichage du message en code ASCII
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@ -4,7 +4,7 @@ import radio
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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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# @title: Jumeau Maqueen : Programme de la carte microbit du relais
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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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@ -18,7 +18,7 @@ import radio
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attente_image = Image("00000:00000:00300:00000:00000")
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display.show(attente_image) # Témoin de fonctionnement
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balise_image = Image("00300:03630:36963:03630:00300")
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balise_image = Image("33333:36663:36963:36663:33333")
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radio.config(group=1, queue=4, length=8)
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radio.on()
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@ -28,61 +28,72 @@ uart.init(baudrate= 115200) # Initialisation du port série
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# Écoute du port série en relayage vers la radio
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###############################################################################
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temps_avancer=20
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temps_tourner=20
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temps_marquer=20
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temps_forer=40
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temps_colision=40
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temps_avancer=10
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temps_tourner=10
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temps_marquer=100
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temps_objectif=100
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temps_forer=100
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temps_colision=100
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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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if button_a.is_pressed() or button_b.is_pressed(): # A propos
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display.scroll ("Ropy : Relais")
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display.show(attente_image) # Témoin de fonctionnement
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# pass
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display.show(' ') # Sinon bug ?
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msg = uart.readline()
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# Avancer : AV
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if msg[0] ==65 and msg[1] ==86 : # Code ASCII : 65 (A) puis 86 (V)
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display.show(Image.ARROW_N)
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radio.send("AV")
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sleep(temps_avancer)
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radio.send("ST")
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# Reculer : RE
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if msg[0] ==82 and msg[1] ==69 : # Code ASCII : 82 (R) puis 69 (E)
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display.show(Image.ARROW_S)
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radio.send("RE")
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sleep(temps_avancer)
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radio.send("ST")
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# Gauche : GA
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if msg[0] ==71 and msg[1] ==65 : # Code ASCII : 71 (G) puis 65 (A)
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display.show(Image.ARROW_W)
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radio.send("GA")
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sleep(temps_tourner)
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radio.send("ST")
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# Droite : DR
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if msg[0] ==68 and msg[1] ==69 : # Code ASCII : 82 (D) puis 82 (R)
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if msg[0] ==68 and msg[1] ==82 : # Code ASCII : 68 (D) puis 82 (R)
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display.show(Image.ARROW_E)
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radio.send("DR")
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sleep(temps_tourner)
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radio.send("ST")
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# Marquer : MA
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if msg[0] ==77 and msg[1] ==65 : # Code ASCII : 77 (M) puis 65 (A)
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display.show(balise_image)
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radio.send("MA")
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sleep(temps_marquer)
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# Objectif atteint : OB
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if msg[0] ==79 and msg[1] ==66 : # Code ASCII : 79 (O) puis 66 (B)
|
||||
display.show(Image.HAPPY)
|
||||
radio.send("OB")
|
||||
sleep(temps_objectif)
|
||||
display.show(attente_image) # Témoin de fonctionnement
|
||||
|
||||
# Forer : FO
|
||||
if msg[0] ==70 and msg[1] ==79 : # Code ASCII : 70 (F) puis 79 (O)
|
||||
display.show(Image.DIAMOND)
|
||||
radio.send("FO")
|
||||
sleep(temps_forer)
|
||||
|
||||
# Colision : CO
|
||||
if msg[0] ==67 and msg[1] ==79 : # Code ASCII : 67 (C) puis 79 (O)
|
||||
display.show(Image.SKULL)
|
||||
radio.send("CO")
|
||||
sleep(temps_colision)
|
||||
|
||||
# Configuration : CF
|
||||
|
|
@ -96,7 +107,7 @@ while True:
|
|||
pass
|
||||
display.show(' ')
|
||||
msg = uart.readline()
|
||||
if msg[0] ==70 and msg[1] ==67 : # Code ASCII : 70 (F) puis 67 (C) -> sortie de la configuration
|
||||
if msg[0] ==70 and msg[1] ==67 : # Code ASCII : 70 (F) puis 67 (C) -> fin de la configuration
|
||||
break
|
||||
# display.scroll (msg[:-1])
|
||||
radio.send(str(msg[:-1]))
|
||||
|
|
@ -105,6 +116,7 @@ while True:
|
|||
|
||||
# Fin : FI
|
||||
if msg[0] ==70 and msg[1] ==73 : # Code ASCII : 70 (F) puis 73 (I)
|
||||
radio.send("FI")
|
||||
display.show(attente_image) # Témoin de fonctionnement
|
||||
|
||||
sleep(400)
|
||||
|
|
|
|||
|
|
@ -19,14 +19,19 @@ import time
|
|||
# Initialisation
|
||||
# ###############################################################################
|
||||
|
||||
# Image
|
||||
attente_image = Image("00000:00000:00900:00000:00000")
|
||||
display.show(attente_image) # Témoin de fonctionnement
|
||||
balise_image = Image("33333:36663:36963:36663:33333")
|
||||
|
||||
# Radio
|
||||
radio.config(group=1, queue=4, length=8)
|
||||
radio.on()
|
||||
|
||||
vitesse = 50
|
||||
distance = 50
|
||||
angle = 90
|
||||
# Paramétrage
|
||||
vitesse = 50 # Vitesse
|
||||
distance = 50 # Distance d'un pas
|
||||
angle = 90 # Angle lors des rotations
|
||||
|
||||
vmax_roue = 85.5 # Vitesse maxi des roues en tr/min
|
||||
diam_roue = 43 # Diamètre des roues en mm
|
||||
|
|
@ -38,6 +43,11 @@ dist_essieu = 70 # Distance entre les roues en mm
|
|||
|
||||
while True:
|
||||
|
||||
# A propos
|
||||
if button_a.is_pressed() or button_b.is_pressed():
|
||||
display.scroll ("Ropy : Robot")
|
||||
display.show(attente_image) # Témoin de fonctionnement
|
||||
|
||||
# Lecture de l'ordre
|
||||
ordre=radio.receive()
|
||||
|
||||
|
|
@ -81,12 +91,6 @@ while True:
|
|||
pin12.write_digital(0) # Led avant gauche
|
||||
display.clear() # Effacer matrice de leds
|
||||
|
||||
# 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":
|
||||
|
||||
|
|
@ -106,12 +110,6 @@ while True:
|
|||
pin12.write_digital(0) # Led avant gauche
|
||||
display.clear() # Effacer matrice de leds
|
||||
|
||||
# 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_E)
|
||||
|
|
@ -129,38 +127,15 @@ while True:
|
|||
pin8.write_digital(0) # Led avant gauche
|
||||
display.clear() # Effacer matrice de leds
|
||||
|
||||
# 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_W)
|
||||
pin12.write_digital(1) # Led avant droit
|
||||
i2c.write(0x10, bytearray([0x00, 0x0, vitesse])) # Avance moteur gauche
|
||||
i2c.write(0x10, bytearray([0x02, 0x1, vitesse])) # Avance moteur droit
|
||||
|
||||
v_roue=(vmax_roue/255)*vitesse
|
||||
v_lin = ((v_roue/60)*2*math.pi)*(diam_roue/2) # Vitesse linéaire
|
||||
v_lin = ((v_roue/60)*2*math.pi)*(diam_roue/2) # Vitesse linéaire
|
||||
angle2=(angle/4)*(2*math.pi/360)
|
||||
time.sleep((dist_essieu*angle2)/v_lin)
|
||||
|
||||
|
|
@ -169,35 +144,29 @@ while True:
|
|||
pin12.write_digital(0) # Led avant droit
|
||||
display.clear() # Effacer matrice de leds
|
||||
|
||||
# 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
|
||||
# Marquer
|
||||
if ordre=="MA":
|
||||
display.show(balise_image)
|
||||
music.play("A7:0")
|
||||
|
||||
# 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
|
||||
# Objectif
|
||||
if ordre=="OB":
|
||||
display.show(Image.HAPPY)
|
||||
music.play(music.ENTERTAINER)
|
||||
display.show(attente_image) # Témoin de fonctionnement
|
||||
|
||||
# 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
|
||||
# Forer
|
||||
if ordre=="FO":
|
||||
display.show(Image.DIAMOND)
|
||||
|
||||
# Stop
|
||||
# if ordre=="ST":
|
||||
# display.show(attente_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]))
|
||||
# Colision : CO
|
||||
if ordre=="CO":
|
||||
display.show(Image.SKULL)
|
||||
music.play(music.FUNERAL)
|
||||
|
||||
# Fin
|
||||
if ordre=="FI":
|
||||
display.show(attente_image) # Témoin de fonctionnement
|
||||
|
||||
# Cadencement
|
||||
# sleep(100)
|
||||
|
|
|
|||
Loading…
Reference in New Issue