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Ajout du relais : télécommande -> ropy
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19
rp_cmd.py
19
rp_cmd.py
@ -28,9 +28,24 @@ from rp_lib import * # Bibliothèque Ropy
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def commandes():
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rp_jumeau('/dev/ttyACM0', 115200)
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rp_jumeau('/dev/ttyACM1', 115200)
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rp_avancer()
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rp_gauche()
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# while True :
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# ordre = rp_serie_rcpt()
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# print (ordre)
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# if "AV" in ordre :
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# rp_avancer()
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# rp_marquer()
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# if "RE" in ordre :
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# rp_reculer()
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# if "GA" in ordre :
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# rp_gauche()
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# if "DR" in ordre :
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# rp_droite()
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# if "ST" in ordre :
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# break
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rp_fin() # A garder
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31
rp_lib.py
31
rp_lib.py
@ -1116,13 +1116,16 @@ def rp_jumeau(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_close'] = 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['Points-Twins-text']['Text'] = "Connection\nouverte :\n"+port+"\n"+str(speed)+" baud"
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scene.objects['Commands']['twins_readline'] = ""
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scene.objects['Points-Twins-text']['Text'] = "Connection ouverte :\n"+port+" - "+str(speed)+" baud"
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rp_tempo (0.1)
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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\n"+port+"\npas prêt"
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scene.objects['Points-Twins-text']['Text'] = "Port "+port+" pas 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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@ -1143,7 +1146,7 @@ def rp_jumeau_close():
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global twins_serial
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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-text']['Text'] = "Connection\nfermée"
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scene.objects['Points-Twins-text']['Text'] = "Connection fermée"
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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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@ -1172,21 +1175,27 @@ def rp_serie_msg(text):
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def twins_listen(cont):
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global twins_serial
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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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if scene.objects['Commands']['twins']:
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if scene.objects['Commands']['twins_readline'] != "":
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scene.objects['Points-Twins-text']['Text'] = "Écoute de la connection\nfigeage de la scène\nMessage reçu : "+scene.objects['Commands']['twins_readline']
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else:
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scene.objects['Points-Twins-text']['Text'] = "Écoute de la connection\nfigeage de la scène"
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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['Points-Twins-text']['Text'] = "Message reçu : "+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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scene.objects['Points-Twins-text']['Text'] = "Écoute de la \nconnection\n figeage de \n la scène"
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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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# 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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@ -3,7 +3,7 @@ from microbit import *
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import radio
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###############################################################################
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# rp_twins_maqueen-relay.py
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# rp_maqueen-relay.py
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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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@ -25,7 +25,7 @@ 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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# Écoute du port série et de la radio pour relayage
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###############################################################################
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temps_avancer=10
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@ -37,67 +37,113 @@ 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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while not uart.any(): # Attente d'un message du port série
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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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ordre_radio=radio.receive()
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##########################
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# Transmission d'un ordre radio (venant de la télécommande -> série)
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##########################
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# Avancer : AV
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if ordre_radio=="AV":
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display.show(Image.ARROW_N)
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uart.write("AV\n")
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# Reculer : RE
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if ordre_radio=="RE":
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display.show(Image.ARROW_S)
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uart.write("RE\n")
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# Gauche : GA
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if ordre_radio=="GA":
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display.show(Image.ARROW_W)
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uart.write("GA\n")
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# Droite : DR
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if ordre_radio=="DR":
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display.show(Image.ARROW_E)
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uart.write("DR\n")
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# Marquer : MA
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if ordre_radio=="MA":
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display.show(balise_image)
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uart.write("MA\n")
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# Stop : ST (arrêt de la télécommande)
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if ordre_radio=="ST":
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display.show(Image.NO)
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uart.write("ST\n")
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# Fin : FI (fin du mouvement)
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if ordre_radio=="FI":
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display.show(attente_image) # Témoin de fonctionnement
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##########################
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# Transmission d'un ordre série (venant du jumeau numérique -> radio)
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##########################
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display.show(' ') # Sinon bug ?
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msg = uart.readline()
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ordre_serie = 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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if ordre_serie[0] ==65 and ordre_serie[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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# 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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if ordre_serie[0] ==82 and ordre_serie[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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# 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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if ordre_serie[0] ==71 and ordre_serie[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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# Droite : DR
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if msg[0] ==68 and msg[1] ==82 : # Code ASCII : 68 (D) puis 82 (R)
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if ordre_serie[0] ==68 and ordre_serie[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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# 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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if ordre_serie[0] ==77 and ordre_serie[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)
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if ordre_serie[0] ==79 and ordre_serie[1] ==66 : # Code ASCII : 79 (O) puis 66 (B)
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display.show(Image.HAPPY)
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radio.send("OB")
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sleep(temps_objectif)
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display.show(attente_image) # Témoin de fonctionnement
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# Forer : FO
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if msg[0] ==70 and msg[1] ==79 : # Code ASCII : 70 (F) puis 79 (O)
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if ordre_serie[0] ==70 and ordre_serie[1] ==79 : # Code ASCII : 70 (F) puis 79 (O)
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display.show(Image.DIAMOND)
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radio.send("FO")
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sleep(temps_forer)
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# Colision : CO
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if msg[0] ==67 and msg[1] ==79 : # Code ASCII : 67 (C) puis 79 (O)
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if ordre_serie[0] ==67 and ordre_serie[1] ==79 : # Code ASCII : 67 (C) puis 79 (O)
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display.show(Image.SKULL)
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radio.send("CO")
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sleep(temps_colision)
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# Configuration : CF
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if msg[0] ==67 and msg[1] ==70 : # Code ASCII : 67 (C) puis 70 (F)
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# FIXME : bugé
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if ordre_serie[0] ==67 and ordre_serie[1] ==70 : # Code ASCII : 67 (C) puis 70 (F)
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display.scroll ("CF")
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radio.send("CF")
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@ -106,16 +152,16 @@ while True:
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while not uart.any(): # Attente d'un message
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pass
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display.show(' ')
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msg = uart.readline()
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if msg[0] ==70 and msg[1] ==67 : # Code ASCII : 70 (F) puis 67 (C) -> fin de la configuration
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ordre_serie = uart.readline()
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if ordre_serie[0] ==70 and ordre_serie[1] ==67 : # Code ASCII : 70 (F) puis 67 (C) -> fin de la configuration
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break
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# display.scroll (msg[:-1])
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radio.send(str(msg[:-1]))
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# display.scroll (ordre_serie[:-1])
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radio.send(str(ordre_serie[:-1]))
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# display.scroll ("FC")
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radio.send("FC")
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# Fin : FI
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if msg[0] ==70 and msg[1] ==73 : # Code ASCII : 70 (F) puis 73 (I)
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if ordre_serie[0] ==70 and ordre_serie[1] ==73 : # Code ASCII : 70 (F) puis 73 (I)
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radio.send("FI")
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display.show(attente_image) # Témoin de fonctionnement
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