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main.py
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main.py
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import screen
from machine import Pin, UART, Timer, I2C
import utime
from stepper import Stepper
from ina219 import INA219
# OFF button
# GP6 = blue - control
# GP7 = green - signal
i2c = I2C(1, scl=Pin(15), sda=Pin(14))
ina = INA219(i2c)
ina.set_calibration_32V_2A()
screen.reset()
#uart = UART(id = 1, baudrate = 9600, tx = Pin(4), rx = Pin(5))
uart = UART(id = 0, baudrate = 115200, tx = Pin(0), rx = Pin(1))
m1 = Stepper(0, 18, 19)
m2 = Stepper(1, 20, 21)
motors_en = Pin(22, Pin.OUT)
motors_en.high()
def send(message):
uart.write(bytes(message + '\n', 'utf-8'))
def parse_speed(s):
try:
return int(s)
except ValueError:
return None
last_keepalive = -1
last_speed = 0
motors_enabled = False
last_bumper_trigger = utime.ticks_ms()
def set_speed(enable, m1_steps_per_second, m2_steps_per_second):
global motors_en, m1, m2, motors_enabled
if enable:
motors_en.low()
motors_enabled = True
else:
motors_en.high()
motors_enabled = False
if (m1_steps_per_second != 0 or m2_steps_per_second != 0) and utime.ticks_diff(utime.ticks_ms(), last_bumper_trigger) < 200:
print("Ignoring set_speed while processing bumper")
else:
m1.set_steps_per_second(m1_steps_per_second)
m2.set_steps_per_second(m2_steps_per_second)
def on_command(command):
global last_keepalive, last_speed
print(command)
print('-----')
# send(command)
split_command = command.split(':', 1)
command_type = split_command[0]
# C0:Some message
if command_type == 'C0' and len(split_command) == 2:
screen.custom_message(split_command[1])
# C1:1,1000,1000
if command_type == 'C1' and len(split_command) == 2:
speeds = split_command[1].split(',')
if len(speeds) == 3:
enable = parse_speed(speeds[0])
m1_steps_per_second = parse_speed(speeds[1])
m2_steps_per_second = parse_speed(speeds[2])
if enable is not None and m1_steps_per_second is not None and m2_steps_per_second is not None:
set_speed(enable == 1, m1_steps_per_second, m2_steps_per_second)
last_speed = utime.ticks_ms()
# C3
if command_type == 'C3':
last_keepalive = utime.ticks_ms()
def update_power():
global screen
voltage = ina.bus_voltage
current = ina.current
screen.battery_status(voltage, current)
send('P:' + str(voltage) + ',' + str(current))
def send_bumpers(left, right):
send('B:' + str(1 if left else 0) + ',' + str(1 if right else 0))
startup_time = utime.ticks_ms()
off_received = -1
OFF_TIMEOUT_SECONDS = 30
def turn_off():
global off_received, startup_time
print('off_button')
if off_received == -1 and utime.ticks_diff(utime.ticks_ms(), startup_time) > 3000:
send('OFF')
off_received = utime.ticks_ms()
screen.off_in_seconds(OFF_TIMEOUT_SECONDS)
print('turning off')
power_button = Pin(7, Pin.IN)
#power_button.irq(handler=turn_off, trigger=Pin.IRQ_RISING)
off_pin = Pin(6, Pin.OUT, Pin.PULL_DOWN)
off_pin.low()
class Bumper():
def __init__(self, pin, on_start, on_end):
pin.irq(handler=self.cb, trigger=Pin.IRQ_RISING)
self.pin = pin
self.triggered = None
self.on_start = on_start
self.on_end = on_end
def cb(self, pin):
if self.triggered is None:
self.triggered = utime.ticks_ms()
self.on_start()
def update(self):
if self.triggered is not None and utime.ticks_diff(utime.ticks_ms(), self.triggered) > 30 and self.pin.value() == 0:
self.triggered = None
self.on_end()
to_report_bumper_start_left = False
to_report_bumper_start_right = False
to_report_bumper_end_left = False
to_report_bumper_end_right = False
def on_start_left():
global to_report_bumper_start_left, last_bumper_trigger
set_speed(True, 0, 0)
to_report_bumper_start_left = True
last_bumper_trigger = utime.ticks_ms()
def on_start_right():
global to_report_bumper_start_right, last_bumper_trigger
set_speed(True, 0, 0)
to_report_bumper_start_right = True
last_bumper_trigger = utime.ticks_ms()
def on_bumper_end_left():
global to_report_bumper_end_left
print("On bumper end left")
to_report_bumper_end_left = True
def on_bumper_end_right():
global to_report_bumper_end_right
print("On bumper end left")
to_report_bumper_end_right = True
bumper_left = Bumper(Pin(2, Pin.IN, Pin.PULL_DOWN), on_start_left, on_bumper_end_left)
bumper_right = Bumper(Pin(3, Pin.IN, Pin.PULL_DOWN), on_start_right, on_bumper_end_right)
report_deadline = utime.ticks_add(utime.ticks_ms(), 200)
buffer=b''
def find_commands(current_buffer):
commands = current_buffer.split(b'\n')
return (commands[0:-1], commands[-1])
while True:
if uart.any() > 0:
recv = uart.read()
if recv is not None:
(commands, remaining) = find_commands(recv)
buffer = remaining
for command in commands:
on_command(command.decode('utf-8'))
bumper_left.update()
bumper_right.update()
if utime.ticks_diff(report_deadline, utime.ticks_ms()) < 0:
report_deadline = utime.ticks_add(utime.ticks_ms(), 1000)
update_power()
is_connected = last_keepalive != -1 and utime.ticks_diff(utime.ticks_ms(), last_keepalive) < 2000
screen.connected_status(is_connected)
if motors_enabled and (utime.ticks_diff(utime.ticks_ms(), last_speed) > 2000 or not is_connected):
set_speed(False, 0, 0)
print('Disabled motors due to inactivity')
if power_button.value() == 1:
turn_off()
if off_received != -1:
off_elapsed = round(utime.ticks_diff(utime.ticks_ms(), off_received) / 1000)
screen.off_in_seconds(OFF_TIMEOUT_SECONDS - off_elapsed)
if off_elapsed >= OFF_TIMEOUT_SECONDS:
off_pin.high()
if to_report_bumper_start_left or to_report_bumper_start_right:
send_bumpers(bumper_left.triggered is not None, bumper_right.triggered is not None)
to_report_bumper_start_left = False
to_report_bumper_start_right = False
screen.bumper_status(bumper_left.triggered is not None, bumper_right.triggered is not None)
if to_report_bumper_end_left or to_report_bumper_end_right:
send_bumpers(bumper_left.triggered is not None, bumper_right.triggered is not None)
to_report_bumper_end_left = False
to_report_bumper_end_right = False
screen.bumper_status(bumper_left.triggered is not None, bumper_right.triggered is not None)
utime.sleep_ms(2)