first commit powerwasher controller code

PowerWash_Controller/code.py

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+# SPDX-FileCopyrightText: 2023 John Park for Adafruit Industries
+# SPDX-License-Identifier: MIT
+# PowerWash Simulator controller
+"""
+Hardware:
+# QT Py RP2040, BNO055, Wiichuck adapter, Piezo driver on D10 ('MO' pin on silk)
+ User control:
+    nozzle heading/roll (sensor is mounted "sideways" in washer handle) = mouse x/y
+    nozzle tap/shake = next nozzle tip
+    wii C button (while level) = rotate nozzle tip
+    wii Z button = trigger water
+    wii joystick = WASD
+    wii roll right = change stance stand/crouch/prone
+    wii roll left = jump
+    wii pitch up + C button = set target angle offset
+    wii pitch down = show dirt
+    wii pitch down + C button = toggle aim mode
+"""
+
+import time
+import math
+import board
+from simpleio import map_range, tone
+import adafruit_bno055
+import usb_hid
+from adafruit_hid.mouse import Mouse
+from adafruit_hid.keycode import Keycode
+from adafruit_hid.keyboard import Keyboard
+from adafruit_hid.keyboard_layout_us import KeyboardLayoutUS
+from adafruit_nunchuk import Nunchuk
+
+# ===========================================
+# constants
+DEBUG = False
+CURSOR = True  # use to toggle cursor movment during testing/use
+SENSOR_PACKET_FACTOR = 10  # Ratio of BNo055 data packets per Wiichuck packet
+HORIZONTAL_RATE = 127  # mouse x speed
+VERTICAL_RATE = 63  # mouse y speed
+WII_C_KEY_1 = Keycode.R  # rotate nozzle
+WII_C_KEY_2 = Keycode.C  # aim mode
+WII_PITCH_UP = 270  # value to trigger wiichuk up state
+WII_PITCH_DOWN = 730  # value to trigger wiichuck down state
+WII_ROLL_LEFT = 280  # value to trigger wiichuck left state
+WII_ROLL_RIGHT = 740  # value to trigger wiichuck right state
+TAP_THRESHOLD = 6  # Tap sensitivity threshold; depends on the physical sensor mount
+TAP_DEBOUNCE = 0.3  # Time for accelerometer to settle after tap (seconds)
+
+# ===========================================
+# Instantiate I2C interface connection
+# i2c = board.I2C()  # For board.SCL and board.SDA
+i2c = board.STEMMA_I2C()  # For the built-in STEMMA QT connection
+
+# ===========================================
+# setup USB HID mouse and keyboard
+mouse = Mouse(usb_hid.devices)
+keyboard = Keyboard(usb_hid.devices)
+layout = KeyboardLayoutUS(keyboard)
+
+# ===========================================
+# wii nunchuk setup
+wiichuk = Nunchuk(i2c)
+
+# ===========================================
+# Instantiate the BNo055 sensor
+sensor = adafruit_bno055.BNO055_I2C(i2c)
+sensor.mode = 0x0C  # Set the sensor to NDOF_MODE
+
+# ===========================================
+# beep function
+def beep(freq=440, duration=0.2):
+    """Play the piezo element for duration (sec) at freq (Hz).
+    This is a blocking method."""
+    tone(board.D10, freq, duration)
+
+# ===========================================
+# debug print function
+def printd(line):
+    """Prints a string if DEBUG is True."""
+    if DEBUG:
+        print(line)
+
+# ===========================================
+# euclidean distance function
+def euclidean_distance(reference, measured):
+    """Calculate the Euclidean distance between reference and measured points
+    in a universe. The point position tuples can be colors, compass,
+    accelerometer, absolute position, or almost any other multiple value data
+    set.
+    reference: A tuple or list of reference point position values.
+    measured: A tuple or list of measured point position values."""
+    # Create list of deltas using list comprehension
+    deltas = [(reference[idx] - count) for idx, count in enumerate(measured)]
+    # Resolve squared deltas to a Euclidean difference and return the result
+    # pylint:disable=c-extension-no-member
+    return math.sqrt(sum([d ** 2 for d in deltas]))
+
+# ===========================================
+# BNO055 offsets
+# Preset the sensor calibration offsets
+# User sets this up once for geographic location using `bno055_calibrator.py` in library examples
+sensor.offsets_magnetometer = (198, 238, 465)
+sensor.offsets_gyroscope = (-2, 0, -1)
+sensor.offsets_accelerometer = (-28, -5, -29)
+printd(f"offsets_magnetometer set to: {sensor.offsets_magnetometer}")
+printd(f"offsets_gyroscope set to: {sensor.offsets_gyroscope}")
+printd(f"offsets_accelerometer set to: {sensor.offsets_accelerometer}")
+
+# ===========================================
+# controller states
+wii_roll_state = 1  # roll left 0, center 1, roll right 2
+wii_pitch_state = 1  # pitch down 0, center 1, pitch up 2
+wii_last_roll_state = 1
+wii_last_pitch_state = 1
+c_button_state = False
+z_button_state = False
+
+sensor_packet_count = 0  # Initialize the BNo055 packet counter
+
+print("PowerWash controller ready, point at center of screen for initial offset:")
+beep(400, 0.1)
+beep(440, 0.2)
+time.sleep(3)
+# The target angle offset used to reorient the wand to point at the display
+#pylint:disable=(unnecessary-comprehension)
+target_angle_offset = [angle for angle in sensor.euler]
+beep(220, 0.4)
+print("......reoriented", target_angle_offset)
+
+
+while True:
+    # ===========================================
+    # BNO055
+    # Get the Euler angle values from the sensor
+    # The Euler angle limits are: +180 to -180 pitch, +360 to -360 heading, +90 to -90 roll
+    sensor_euler = sensor.euler
+    sensor_packet_count += 1  # Increment the BNo055 packet counter
+    # Adjust the Euler angle values with the target_position_offset
+    heading, roll, pitch = [
+                            position - target_angle_offset[idx] for idx,
+                            position in enumerate(sensor_euler)
+    ]
+    printd(f"heading {heading}, roll {roll}")
+    # Scale the heading for horizontal movement range
+    # horizontal_mov = map_range(heading, 220, 260, -30.0, 30.0)
+    horizontal_mov = int(map_range(heading, -16, 16, HORIZONTAL_RATE*-1, HORIZONTAL_RATE))
+    printd(f"mouse x: {horizontal_mov}")
+
+    # Scale the roll for vertical movement range
+    vertical_mov = int(map_range(roll, 9, -9, VERTICAL_RATE*-1, VERTICAL_RATE))
+    printd(f"mouse y: {vertical_mov}")
+    if CURSOR:
+        mouse.move(x=horizontal_mov)
+        mouse.move(y=vertical_mov)
+
+    # ===========================================
+    # sensor packet ratio
+    # Read the wiichuck every "n" times the BNo055 is read
+    if sensor_packet_count >= SENSOR_PACKET_FACTOR:
+        sensor_packet_count = 0  # Reset the BNo055 packet counter
+
+        # ===========================================
+        # wiichuck joystick
+        joy_x, joy_y = wiichuk.joystick
+        printd(f"joystick = {wiichuk.joystick}")
+        if joy_x < 25:
+            keyboard.press(Keycode.A)
+        else:
+            keyboard.release(Keycode.A)
+
+        if joy_x > 225:
+            keyboard.press(Keycode.D)
+        else:
+            keyboard.release(Keycode.D)
+
+        if joy_y > 225:
+            keyboard.press(Keycode.W)
+        else:
+            keyboard.release(Keycode.W)
+
+        if joy_y < 25:
+            keyboard.press(Keycode.S)
+        else:
+            keyboard.release(Keycode.S)
+
+        # ===========================================
+        # wiichuck accel
+        wii_roll, wii_pitch, wii_az = wiichuk.acceleration
+        printd(f"roll:, {wii_roll}, pitch:, {wii_pitch}")
+        if wii_roll <= WII_ROLL_LEFT:
+            wii_roll_state = 0
+            if wii_last_roll_state != 0:
+                keyboard.press(Keycode.SPACE)  # jump
+                wii_last_roll_state = 0
+        elif WII_ROLL_LEFT < wii_roll < WII_ROLL_RIGHT:  # centered
+            wii_roll_state = 1
+            if wii_last_roll_state != 1:
+                keyboard.release(Keycode.LEFT_CONTROL)
+                keyboard.release(Keycode.SPACE)
+                wii_last_roll_state = 1
+        else:
+            wii_roll_state = 2
+            if wii_last_roll_state != 2:
+                keyboard.press(Keycode.LEFT_CONTROL)  # change stance
+                wii_last_roll_state = 2
+
+        if wii_pitch <= WII_PITCH_UP:  # up used as modifier
+            wii_pitch_state = 0
+            if wii_last_pitch_state != 0:
+                beep(freq=660)
+                wii_last_pitch_state = 0
+        elif WII_PITCH_UP < wii_pitch < WII_PITCH_DOWN:  # level
+            wii_pitch_state = 1
+            if wii_last_pitch_state != 1:
+                wii_last_pitch_state = 1
+        else:
+            wii_pitch_state = 2  # down sends command and is modifier
+            if wii_last_pitch_state != 2:
+                keyboard.send(Keycode.TAB)
+                beep(freq=110)
+                wii_last_pitch_state = 2
+
+        # ===========================================
+        # wiichuck buttons
+        if wii_pitch_state == 0:  # button use when wiichuck is held level
+            if wiichuk.buttons.C and c_button_state is False:
+                target_angle_offset = [angle for angle in sensor_euler]
+                beep()
+                beep()
+                c_button_state = True
+            if not wiichuk.buttons.C and c_button_state is True:
+                c_button_state = False
+
+        elif wii_pitch_state == 1:  # level
+            if wiichuk.buttons.C and c_button_state is False:
+                keyboard.press(WII_C_KEY_1)
+                c_button_state = True
+            if not wiichuk.buttons.C and c_button_state is True:
+                keyboard.release(WII_C_KEY_1)
+                c_button_state = False
+
+        elif wii_pitch_state == 2:  # down
+            if wiichuk.buttons.C and c_button_state is False:
+                keyboard.press(WII_C_KEY_2)
+                c_button_state = True
+            if not wiichuk.buttons.C and c_button_state is True:
+                keyboard.release(WII_C_KEY_2)
+                c_button_state = False
+
+        if wiichuk.buttons.Z and z_button_state is False:
+            mouse.press(Mouse.LEFT_BUTTON)
+            z_button_state = True
+        if not wiichuk.buttons.Z and z_button_state is True:
+            mouse.release(Mouse.LEFT_BUTTON)
+            z_button_state = False
+
+    # ===========================================
+    # BNO055 tap detection
+    # Detect a single tap on any axis of the BNo055 accelerometer
+    accel_sample_1 = sensor.acceleration  # Read one sample
+    accel_sample_2 = sensor.acceleration  # Read the next sample
+    if euclidean_distance(accel_sample_1, accel_sample_2) >= TAP_THRESHOLD:
+        # The difference between two consecutive samples exceeded the threshold ()
+        # (equivalent to a high-pass filter)
+        mouse.move(wheel=1)
+        printd("SINGLE tap detected")
+        beep()
+        time.sleep(TAP_DEBOUNCE)  # Debounce delay