Merge pull request #288 from dastels/master
Code for IrRobotControl guide
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Mike Barela
GitHub
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2 changed files with 195 additions and 0 deletions
82
IrRobotControl/glove.py
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82
IrRobotControl/glove.py
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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 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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pwm = pulseio.PWMOut(board.IR_TX, frequency=38000, duty_cycle=2 ** 15)
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pulseout = pulseio.PulseOut(pwm)
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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=[9500, 4500],
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one=[550, 550],
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zero=[550, 1700],
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trail=0)
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# pylint: disable=unused-argument
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# pylint: disable=pointless-statement
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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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# swap the comments on the next two lines to enable/disable logging output
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pass
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# print(s)
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# pylint: enable=pointless-statement
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# pylint: enable=unused-argument
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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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113
IrRobotControl/robot.py
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113
IrRobotControl/robot.py
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import board
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import pulseio
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import adafruit_irremote
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from adafruit_crickit import crickit
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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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left_wheel = crickit.dc_motor_1
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right_wheel = crickit.dc_motor_2
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# pylint: disable=unused-argument
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# pylint: disable=pointless-statement
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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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# swap the comments on the next two lines to enable/disable logging output
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pass
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# print(s)
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# pylint: enable=pointless-statement
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# pylint: enable=unused-argument
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# These allow easy correction for motor speed variation.
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# Factors are determined by observation and fiddling.
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# Start with both having a factor of 1.0 (i.e. none) and
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# adjust until the bot goes more or less straight
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def set_right(speed):
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right_wheel.throttle = speed * 0.9
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def set_left(speed):
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left_wheel.throttle = speed
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# Uncomment this to find the above factors
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# set_right(1.0)
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# set_left(1.0)
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# while True:
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# pass
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# Create a 'pulseio' input, to listen to infrared signals on the IR receiver
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pulsein = pulseio.PulseIn(board.IR_RX, maxlen=120, idle_state=True)
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# Create a decoder that will take pulses and turn them into numbers
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decoder = adafruit_irremote.GenericDecode()
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while True:
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# Listen for incoming IR pulses
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pulses = decoder.read_pulses(pulsein)
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# Try and decode them
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try:
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# Attempt to convert received pulses into numbers
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received_code = decoder.decode_bits(pulses)
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except adafruit_irremote.IRNECRepeatException:
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# We got an unusual short code, probably a 'repeat' signal
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log("NEC repeat!")
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continue
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except adafruit_irremote.IRDecodeException as e:
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# Something got distorted or maybe its not an NEC-type remote?
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log("Failed to decode: {}".format(e.args))
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continue
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if received_code == [STOP] * 4:
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log("STOP")
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set_left(0.0)
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set_right(0.0)
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elif received_code == [ROTATE_LEFT] * 4:
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log("ROTATE_LEFT")
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set_left(-0.25)
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set_right(0.25)
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elif received_code == [ROTATE_RIGHT] * 4:
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log("ROTATE_RIGHT")
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set_left(0.25)
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set_right(-0.25)
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elif received_code == [FORWARD] * 4:
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log("FORWARD")
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set_left(0.5)
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set_right(0.5)
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elif received_code == [FORWARD_LEFT] * 4:
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log("FORWARD_LEFT")
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set_left(0.0)
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set_right(0.5)
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elif received_code == [FORWARD_RIGHT] * 4:
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log("FORWARD_RIGHT")
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set_left(0.5)
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set_right(0.0)
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elif received_code == [REVERSE] * 4:
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log("REVERSE")
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set_left(-0.5)
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set_right(-0.5)
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elif received_code == [REVERSE_LEFT] * 4:
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log("REVERSE_LEFT")
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set_left(-0.25)
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set_right(-0.5)
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elif received_code == [REVERSE_RIGHT] * 4:
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log("REVERSE_RIGHT")
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set_left(-0.5)
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set_right(-0.25)
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else:
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log("UNKNOWN")
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