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155 | from machine import Pin, PWM
from utime import sleep
import ssd1306
# Motor pins to the L293 H-Bridge
RIGHT_FORWARD_PIN = 17
RIGHT_REVERSE_PIN = 16
LEFT_FORWARD_PIN = 18
LEFT_REVERSE_PIN = 19
right_forward = PWM(Pin(RIGHT_FORWARD_PIN))
right_reverse = PWM(Pin(RIGHT_REVERSE_PIN))
left_forward = PWM(Pin(LEFT_FORWARD_PIN))
left_reverse = PWM(Pin(LEFT_REVERSE_PIN))
# connections to the three IR distance sensors
left = Pin(8, Pin.IN, Pin.PULL_DOWN)
center = Pin(7, Pin.IN, Pin.PULL_DOWN)
right = Pin(6, Pin.IN, Pin.PULL_DOWN)
SPEAKER_PIN = 21
# create a Pulse Width Modulation Object on this pin
speaker = PWM(Pin(SPEAKER_PIN))
WIDTH = 128
HEIGHT = 64
CS = machine.Pin(1)
SCL = machine.Pin(2)
SDA = machine.Pin(3)
DC = machine.Pin(4)
RES = machine.Pin(5)
spi=machine.SPI(0, sck=SCL, mosi=SDA)
oled = ssd1306.SSD1306_SPI(WIDTH, HEIGHT, spi, DC, RES, CS)
def turn_motor_on(pwm):
pwm.duty_u16(65025)
def turn_motor_off(pwm):
pwm.duty_u16(0)
def forward():
turn_motor_on(right_forward)
turn_motor_on(left_forward)
def reverse():
turn_motor_on(right_reverse)
turn_motor_on(left_reverse)
def turn_right():
turn_motor_on(right_forward)
turn_motor_on(left_reverse)
def turn_left():
turn_motor_on(right_reverse)
turn_motor_on(left_forward)
def sound_off():
speaker.duty_u16(0)
def left_tone():
speaker.duty_u16(1000)
speaker.freq(700) # 1 Kilohertz
sleep(.5) # wait a 1/4 second
sound_off()
def center_tone():
speaker.duty_u16(1000)
speaker.freq(900)
sleep(.5)
sound_off()
def right_tone():
speaker.duty_u16(1000)
speaker.freq(600)
sleep(.5)
sound_off()
def forward_tone():
speaker.duty_u16(1000)
speaker.freq(400)
sleep(.1)
speaker.freq(900)
sleep(.1)
speaker.freq(1200)
sleep(.1)
sound_off()
def update_oled():
oled.fill(0)
oled.text("CoderDojo Rocks!", 0, 0, 1)
oled.text("Left:", 0, 10, 1)
oled.text(str(left.value()), 50, 10, 1)
oled.text("Center:", 0, 20, 1)
oled.text(str(center.value()), 60, 20, 1)
oled.text("Right:", 0, 30, 1)
oled.text(str(right.value()), 55, 30, 1)
BAR_WIDTH = 40
BAR_HEIGHT = 20
if left.value():
oled.fill_rect(WIDTH-40, 50, BAR_WIDTH, BAR_HEIGHT, 0)
else:
oled.fill_rect(WIDTH-40, 50, BAR_WIDTH, BAR_HEIGHT, 1)
if center.value():
oled.fill_rect(50, 50, BAR_WIDTH, BAR_HEIGHT, 0)
else:
oled.fill_rect(50, 50, BAR_WIDTH, BAR_HEIGHT, 1)
if right.value():
oled.fill_rect(0, 50, BAR_WIDTH, BAR_HEIGHT, 0)
else:
oled.fill_rect(0, 50, BAR_WIDTH, BAR_HEIGHT, 1)
oled.show()
# 0=stopped, 1=forward, 2=turing right, 3=turning left
drive_state = 0
counter = 0
while True:
if left.value()==0:
print('Left')
#left_tone()
turn_right()
update_oled()
drive_state = 2
if center.value()==0:
print('Center')
center_tone()
reverse()
update_oled()
drive_state = 0
if right.value()==0:
print('Right')
#right_tone()
turn_left()
update_oled()
drive_state = 3
# if (left.value()==1) and (center.value()==1) and (right.value()==1):
if left.value() and center.value() and right.value():
print('Go forward!')
drive_state = 1
# forward_tone()
forward()
update_oled()
print("counter: ", counter)
counter += 1
sleep(.25)
|