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Exemples pour micro:bit et arduino
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17
rp.py
17
rp.py
@ -11,7 +11,6 @@ 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 rp_map1 as rp_map # Map definition
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import rp_doc # Documentation
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@ -338,16 +337,6 @@ 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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@ -1033,6 +1022,9 @@ def tablet_close ():
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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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else:
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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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@ -1277,6 +1269,9 @@ def store_close():
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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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else:
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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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44
rp_cmd.py
44
rp_cmd.py
@ -3,8 +3,8 @@ import time
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from rp_lib import * # Bibliothèque Ropy
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###############################################################################
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# rp_cmd.py
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# @title: Commandes pour le Rover Ropy
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# rp_cmd-microbit.py
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# @title: Exemple pour le lecteur du port série Micro:bit
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# @project: Ropy (Blender-EduTech)
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###############################################################################
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@ -22,10 +22,6 @@ 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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@ -33,43 +29,7 @@ def mrp_avancer():
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def commandes():
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# Ecrire votre code ici ...
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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_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>-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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<worldPosition.x>-1.8592177629470825</worldPosition.x>
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<worldPosition.y>-33.43065643310547</worldPosition.y>
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<worldPosition.z>27.0482177734375</worldPosition.z>
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</cam>
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<screen>
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<width>1280</width>
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63
rp_lib.py
63
rp_lib.py
@ -1112,26 +1112,25 @@ def rp_jumeau(port, speed):
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global twins_serial
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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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# twins_serial.set_buffer_size(rx_size = 12800, tx_size = 12800)
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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\nouverte :\n"+port+"\n à "+str(speed)+" baud"
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scene.objects['Points-Twins-text']['Text'] = "Connection\nouverte :\n"+port+"\n"+str(speed)+" baud"
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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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scene.objects['Points-Twins-text']['Text'] = "Port\n"+port+"\npas prêt"
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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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# # 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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@ -1147,44 +1146,48 @@ def rp_jumeau_close():
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scene.objects['Points-Twins-text']['Text'] = "Connection\nfermée"
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# Configuration de la vitesse et des temps
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# FIXME : Bug dans le transfert des données
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def rp_jumeau_config(speed, temps_avancer, temps_tourner):
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global twins_serial
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if scene.objects['Commands']['twins']:
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serial_msg1 = "CF\n"
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# print (serial_msg1)
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twins_serial.write(serial_msg1.encode())
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rp_tempo (1)
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serial_msg2 = str(speed)+"\n"
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# print (serial_msg2)
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twins_serial.write(serial_msg2.encode())
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rp_tempo (1)
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serial_msg2 = str(temps_avancer)+"\n"
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# print (serial_msg2)
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twins_serial.write(serial_msg2.encode())
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serial_msg3 = str(temps_avancer)+"\n"
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twins_serial.write(serial_msg3.encode())
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rp_tempo (1)
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serial_msg2 = str(temps_tourner)+"\n"
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# print (serial_msg2)
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twins_serial.write(serial_msg2.encode())
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serial_msg4 = str(temps_tourner)+"\n"
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twins_serial.write(serial_msg4.encode())
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rp_tempo (1)
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serial_msg1 = "FC\n"
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# print (serial_msg1)
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twins_serial.write(serial_msg1.encode())
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serial_msg5 = "FC\n"
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twins_serial.write(serial_msg5.encode())
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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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text2= text+"\n"
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twins_serial.write(text2.encode())
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def twins_listen():
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def twins_listen(cont):
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global twins_serial
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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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if cont.sensors['Property'].positive:
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if scene.objects['Commands']['twins_listen'] :
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serial_msg = twins_serial.readline()
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if serial_msg is not None:
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scene.objects['Commands']['twins_readline'] = str(serial_msg)
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scene.objects['Commands']['twins_listen'] = False
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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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scene.objects['Points-Twins-text']['Text'] = "Écoute de la \nconnection\n figeage de \n la scène"
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scene.objects['Commands']['twins_readline'] = ""
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scene.objects['Commands']['twins_listen'] = True
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while scene.objects['Commands']['twins_readline'] == "":
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if scene.objects['Commands']['twins_readline'] != "":
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break
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scene.objects['Points-Twins-text']['Text'] = "Connection\nouverte :\n"+scene.objects['Commands']['twins_port']+"\n"+str(scene.objects['Commands']['twins_speed'])+" baud"
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return scene.objects['Commands']['twins_readline']
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###############################################################################
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# Fonction bas niveau
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55
twins/arduino_serialreader/arduino_serialreader.ino
Executable file → Normal file
55
twins/arduino_serialreader/arduino_serialreader.ino
Executable file → Normal file
@ -1,3 +1,5 @@
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#include "Wire.h"
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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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@ -11,12 +13,18 @@
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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_com = 13; // Led de communication modele 3d-> arduino (onboard)
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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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// Adressage Entrees Arduino
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const int bt = 4; // Bouton
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// Entrees numeriques (modele 3D)
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bool bt_num=false; // Bouton numérique
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// Adressage Sorties Arduino
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const int v = 2; // Voyant
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/******************************************************************************
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* Communication serie
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@ -33,11 +41,7 @@ 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); // Liaison série
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}
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@ -51,13 +55,15 @@ void loop() {
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/*****
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* Communication : modele 3d -> arduino
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*****/
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// digitalWrite(v, HIGH);
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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.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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@ -68,24 +74,32 @@ void loop() {
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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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//Serial.println("Bouton"+ digitalRead(bt));
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if (digitalRead(bt)== LOW) {
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Serial.println("Bouton actif");
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digitalWrite(v, HIGH);
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delay(300);
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}
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else {
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// Serial.println("Bouton repos");
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digitalWrite(v, LOW);
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}
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/*****
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* Yoyant modele 3d-> arduino
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* Voyant 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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if (bt_num) {
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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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else {
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digitalWrite(v, LOW);
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}
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/* delay(300); */
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//delay(300);
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}
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/******************************************************************************
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@ -98,6 +112,7 @@ void serialEvent() {
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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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digitalWrite(v, HIGH);
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}
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}
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}
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@ -16,15 +16,14 @@ while True:
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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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uart.write("A\n")
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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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uart.write("B\n")
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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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# display.scroll(str(msg[0])+" "+str(msg[1])) # Affichage du message en code ASCII
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sleep(400)
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49
twins/rp_cmd-arduino.py
Normal file
49
twins/rp_cmd-arduino.py
Normal file
@ -0,0 +1,49 @@
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import bge # Bibliothèque Blender Game Engine (UPBGE)
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import time
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from rp_lib import * # Bibliothèque Ropy
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###############################################################################
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# rp_cmd-arduino.py
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# @title: Exemple pour le lecteur du port série Arduino
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# @project: Ropy (Blender-EduTech)
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###############################################################################
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###############################################################################
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# Initialisation du niveau :
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# Niveau 1 : Les premiers pas de Ropy
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# Niveau 2 : Ma première fonction
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# Niveau 3 : Sécuriser Ropy
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# Niveau 4 : Partir au bout du monde
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# Niveau 5 : Faire face à l'inconnu
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# Niveau 6 : Se rendre utile
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###############################################################################
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###############################################################################
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# Fonctions
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###############################################################################
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###############################################################################
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# Commandes
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###############################################################################
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def commandes():
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rp_jumeau('/dev/ttyACM0', 115200)
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rp_serie_msg("S") # Allumer led
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rp_tempo(2)
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rp_serie_msg("R") # Etiendre led
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print (rp_serie_rcpt()) # Afficher message reçu
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rp_fin() # A garder
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###############################################################################
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# En: Externals calls << DONT CHANGE THIS SECTION >>
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# Fr: Appels externes << NE PAS MODIFIER CETTE SECTION >>
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###############################################################################
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if __name__=='start':
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thread_cmd_start(commandes)
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if __name__=='stop':
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thread_cmd_stop()
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47
twins/rp_cmd-microbit.py
Normal file
47
twins/rp_cmd-microbit.py
Normal file
@ -0,0 +1,47 @@
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import bge # Bibliothèque Blender Game Engine (UPBGE)
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import time
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from rp_lib import * # Bibliothèque Ropy
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###############################################################################
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# rp_cmd-microbit.py
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# @title: Exemple pour le lecteur du port série Micro:bit
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# @project: Ropy (Blender-EduTech)
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###############################################################################
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###############################################################################
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# Initialisation du niveau :
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# Niveau 1 : Les premiers pas de Ropy
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# Niveau 2 : Ma première fonction
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# Niveau 3 : Sécuriser Ropy
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# Niveau 4 : Partir au bout du monde
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# Niveau 5 : Faire face à l'inconnu
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# Niveau 6 : Se rendre utile
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###############################################################################
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###############################################################################
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# Fonctions
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###############################################################################
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###############################################################################
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# Commandes
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###############################################################################
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def commandes():
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rp_jumeau('/dev/ttyACM1', 115200)
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rp_serie_msg("Press a button !") # Envoyer un message
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|
||||
print (rp_serie_rcpt()) # Réception d'un message (bouton appuyé)
|
||||
|
||||
rp_fin() # A garder
|
||||
|
||||
###############################################################################
|
||||
# En: Externals calls << DONT CHANGE THIS SECTION >>
|
||||
# Fr: Appels externes << NE PAS MODIFIER CETTE SECTION >>
|
||||
###############################################################################
|
||||
|
||||
if __name__=='start':
|
||||
thread_cmd_start(commandes)
|
||||
if __name__=='stop':
|
||||
thread_cmd_stop()
|
||||
@ -58,18 +58,16 @@ while True:
|
||||
while True:
|
||||
conf=radio.receive()
|
||||
if conf=="FC": # Fin de la configuration
|
||||
# display.show(attente_image) # Témoin de fonctionnement
|
||||
display.scroll("Config : " +str(vitesse) + " - " +str(distance) + " - " +str(angle))
|
||||
break
|
||||
if conf is not None:
|
||||
if i != 1:
|
||||
text = str(i) + " : "+str(conf[2:-1])
|
||||
# display.scroll(text)
|
||||
if i == 2: # Configuration de la vitesse
|
||||
vitesse = int(str(conf[2:-1]))
|
||||
if i == 3: # Configuration de la distance
|
||||
distance = int(str(conf[2:-1]))
|
||||
if i == 4: # Configuration de l'angle
|
||||
angle = int(str(conf[2:-1]))
|
||||
# display.scroll(conf) # Affichage du message complet
|
||||
if i == 1: # Configuration de la vitesse
|
||||
vitesse = int(str(conf[2:-1]))
|
||||
if i == 2: # Configuration de la distance
|
||||
distance = int(str(conf[2:-1]))
|
||||
if i == 3: # Configuration de l'angle
|
||||
angle = int(str(conf[2:-1]))
|
||||
i+=1
|
||||
|
||||
# Avancer d'un pas
|
||||
|
||||
Loading…
Reference in New Issue
Block a user