83 lines
2.8 KiB
Python
83 lines
2.8 KiB
Python
# SPDX-FileCopyrightText: 2018 Dave Astels for Adafruit Industries
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#
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# SPDX-License-Identifier: MIT
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import time
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import busio
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import board
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import pulseio
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import adafruit_irremote
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import adafruit_lis3dh
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# Control debug output: it takes time so don't unless you're debugging
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DEBUG_LOG = False
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# Control codes
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STOP = 0x01
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ROTATE_LEFT = 0x02
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ROTATE_RIGHT = 0x03
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FORWARD = 0x04
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FORWARD_LEFT = 0x05
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FORWARD_RIGHT = 0x06
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REVERSE = 0x07
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REVERSE_LEFT = 0x08
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REVERSE_RIGHT = 0x09
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TRANSMIT_DELAY = 0.1
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# Setup accelerometer
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i2c = busio.I2C(board.ACCELEROMETER_SCL, board.ACCELEROMETER_SDA)
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sensor = adafruit_lis3dh.LIS3DH_I2C(i2c, address=0x19)
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# Create a 'pulseio' output, to send infrared signals on the IR transmitter @ 38KHz
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pulseout = pulseio.PulseOut(board.IR_TX, frequency=38000, duty_cycle=2 ** 15)
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# Create an encoder that will take numbers and turn them into IR pulses
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encoder = adafruit_irremote.GenericTransmit(header=[9000, 4500],
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one=[560, 1700],
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zero=[560, 560],
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trail=0)
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def log(s):
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"""Optionally output some text.
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:param string s: test to output
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"""
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if DEBUG_LOG:
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print(s)
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while True:
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x, y, z = sensor.acceleration
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log("{0: 0.3f} {1: 0.3f} {2: 0.3f}".format(x, y, z))
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if z < -5.0 and abs(y) < 3.0: # palm down
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if x < -5.0: # tipped counterclockwise
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log("ROTATE_LEFT")
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encoder.transmit(pulseout, [ROTATE_LEFT] * 4)
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elif x > 5.0: # tipped clockwise
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log("ROTATE_RIGHT")
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encoder.transmit(pulseout, [ROTATE_RIGHT] * 4)
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else: # level
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log("STOP")
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encoder.transmit(pulseout, [STOP] * 4)
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elif y > 5.0: # palm facing away
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if x < -5.0: # tipped counterclockwise
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log("FORWARD_LEFT")
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encoder.transmit(pulseout, [FORWARD_LEFT] * 4)
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elif x > 5.0: # tipped clockwise
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log("FORWARD_RIGHT")
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encoder.transmit(pulseout, [FORWARD_RIGHT] * 4)
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else: # straight up
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log("FORWARD")
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encoder.transmit(pulseout, [FORWARD] * 4)
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elif y < -5.0: # palm facing toward (hand down)
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if x < -5.0: # tipped counterclockwise
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log("REVERSE_RIGHT")
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encoder.transmit(pulseout, [REVERSE_RIGHT] * 4)
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elif x > 5.0: # tipped clockwise
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log("REVERSE_LEFT")
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encoder.transmit(pulseout, [REVERSE_LEFT] * 4)
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else: #straight down
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log("REVERSE")
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encoder.transmit(pulseout, [REVERSE] * 4)
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time.sleep(TRANSMIT_DELAY)
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