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‎presentations/Robot-Sensors-Poster.pptx

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‎src/kits/motor-dist-pot-display/display-banner-test.py

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from machine import Pin
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import ssd1306
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import utime
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WIDTH = 128
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HEIGHT = 64
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# default is data on GP7 and clock on GP6
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SCL = machine.Pin(2)
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SDA = machine.Pin(3)
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RES = machine.Pin(4)
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DC = machine.Pin(5)
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CS = machine.Pin(6)
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spi=machine.SPI(0, sck=SCL, mosi=SDA)
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print(spi)
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oled = ssd1306.SSD1306_SPI(WIDTH, HEIGHT, spi, DC, RES, CS)
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oled.fill(0)
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oled.text("Dan McCreary", 0, 0, 1)
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oled.text("MicroPython Robt", 0, 10, 1)
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oled.text("264K RAM!", 0, 20, 1)
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oled.text("128X64 OLED", 0, 28, 1)
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oled.text("ssd1306 SPI", 0, 36, 1)
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oled.text("$4 + $17 = $21", 0, 45, 1)
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oled.text("Dan McCreary", 0, 54, 1)
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oled.show()

‎src/kits/motor-dist-pot-display/draw-tof-chart.py

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from machine import Pin,PWM
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import VL53L0X
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from time import sleep
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import ssd1306
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from neopixel import NeoPixel
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# OLED Display dimentions
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HEIGHT = 64
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WIDTH = 128
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MAX_TOF_VALUE = 1200
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SCL = machine.Pin(2)
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SDA = machine.Pin(3)
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RES = machine.Pin(4)
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DC = machine.Pin(5)
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CS = machine.Pin(6)
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spi=machine.SPI(0, sck=SCL, mosi=SDA)
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print(spi)
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oled = ssd1306.SSD1306_SPI(WIDTH, HEIGHT, spi, DC, RES, CS)
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sda=machine.Pin(0) # row one on our standard Pico breadboard
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scl=machine.Pin(1) # row two on our standard Pico breadboard
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i2c=machine.I2C(0, sda=sda, scl=scl, freq=400000)
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print('i2c:', i2c)
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tof = VL53L0X.VL53L0X(i2c)
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tof.start()
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x=0
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def update_display(distance):
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global x
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print(x, distance)
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if distance > 63:
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distance = 63
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oled.pixel(x,HEIGHT - int(distance) - 1, 1)
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if x > WIDTH - 3:
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oled.scroll(-1,0)
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else:
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x += 1
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oled.show()
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# time of flight calibration parameters
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zero_dist = 65 # distance measure when an object is about 1/2 cm away
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max_dist = 350 # max distance we are able to read
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scale_factor = .2
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# get the normalized time-of-flight distance
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def get_distance():
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global zero_dist, scale_factor
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tof_distance = tof.read()
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if tof_distance > max_dist:
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return tof_distance
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# if our current time-of-flight distance is lower than our zero distance then reset the zero distance
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if tof_distance < zero_dist:
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zero_dist = tof_distance
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return int((tof_distance - zero_dist) * scale_factor)
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# a list of our prior distance measurements for graphing mode
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distances=[]
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valid_distance = 0
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mode = 0
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# loop forever
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def main():
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global mode, valid_distance
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while True:
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distance = get_distance()
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if distance < MAX_TOF_VALUE:
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update_display(distance)
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sleep(.05)
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# This allows us to stop the sound by doing a Stop or Control-C which is a keyboard intrrupt
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print('Running Chart Time of Flight')
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try:
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main()
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except KeyboardInterrupt:
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print('Got interupt')
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finally:
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# Optional cleanup code
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print('Powering down sound')
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tof.stop()

‎src/kits/motor-dist-pot-display/pot-motor-test.py

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from machine import Pin, PWM, ADC
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from utime import sleep
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# lower right pins with USB on top
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FORWARD_PIN = 19
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REVERSE_PIN = 18
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# ADC0 is GPIO 26. Connect to row 10 the right side.
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pot = ADC(26)
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forward = PWM(Pin(FORWARD_PIN))
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reverse = PWM(Pin(REVERSE_PIN))
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POWER_LEVEL = 65025
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def main():
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while True:
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pot_value = pot.read_u16()
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print('pot val', pot_value)
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forward.duty_u16(pot_value)
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sleep(.1)
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try:
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main()
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except KeyboardInterrupt:
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print('Got ctrl-c')
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finally:
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# Cleanup code
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print('Cleaning up')
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print('Powering motor now.')
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forward.duty_u16(0)
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reverse.duty_u16(0)

‎src/kits/motor-dist-pot-display/pot-print.py

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from machine import Pin, Timer, PWM, ADC
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from utime import sleep
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import ssd1306
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# this is the built-in LED on the Pico
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led = Pin('LED', Pin.OUT)
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# ADC0 is GPIO 26. Connect to row 10 the right side.
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pot = ADC(26)
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def read_pot_u8():
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return pot.read_u16() >> 8
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counter = 0
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while True:
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pot_value = pot.read_u16() # read the 8 bit value from the pot
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print(pot_value)
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# print("pot_value:", delay)
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high_bits = pot_value >> 9
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led.toggle()
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sleep(.1)
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counter += 1

‎src/kits/motor-pot/01-blink.py

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# Setup - run once
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from machine import Pin # Get the Pin function from the machine module.
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from time import sleep # Get the sleep library from the time module.
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# This is the built-in green LED on the Pico.
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BUILT_IN_LED_PIN = 25
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# change this to the following named pin on the "W"
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# BUILT_IN_LED_PIN = Pin("LED", Pin.OUT)
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# The line below indicates we are configuring this as an output (not input)
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led = machine.Pin(BUILT_IN_LED_PIN, machine.Pin.OUT)
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# Main loop: Repeat the forever...
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while True:
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led.high() # turn on the LED
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sleep(0.2) # leave it on for 1/2 second
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led.low() # Turn off the LED
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sleep(0.2) # leave it off for 1/2 second

‎src/kits/motor-pot/02-pot-blink-speed.py

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from machine import ADC, Pin
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from utime import sleep
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# this is the built-in LED on the Pico
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led = Pin(25, Pin.OUT)
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# ADC0 is GPIO 26. Connect to row 10 the right side
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pot = ADC(26)
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MAX_DELAY = .5 # seconds
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# global variables
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delay = 0
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# repeat forever
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while True:
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pot_value = pot.read_u16() # read the value from the pot
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delay = pot_value/65025 * MAX_DELAY
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print("delay:", delay)
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if delay > 0:
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print("frequency (toggles per second):", 1/delay)
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led.high() # turn on the LED
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sleep(delay) # leave it on for 1/2 second
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led.low() # Turn off the LED
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sleep(delay) # leave it off for 1/2 second

‎src/kits/motor-pot/03-motor-on-off-loop.py

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from machine import PWM, Pin
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from utime import sleep
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# Motor Setup
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MAX = 65025
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# lower right pins with USB on top
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FOR_PIN = 16
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REV_PIN = 17
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forward = PWM(Pin(FOR_PIN))
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reverse = PWM(Pin(REV_PIN))
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forward.freq(50)
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# turn off the reverse motor
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reverse.duty_u16(0)
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while True:
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print('forward')
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forward.duty_u16(MAX)
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sleep(2)
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print('stop')
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forward.duty_u16(0)
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sleep(2)

‎src/kits/motor-pot/04-motor-forward-back-test.py

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from machine import PWM, Pin
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from utime import sleep
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# Motor Setup
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# motors just barely turn at this power level
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MAX = 65025
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# lower right pins with USB on top
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FOR_PIN = 16
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REV_PIN = 17
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forward = PWM(Pin(FOR_PIN))
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reverse = PWM(Pin(REV_PIN))
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forward.freq(50)
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reverse.freq(50)
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while True:
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print('forward')
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forward.duty_u16(MAX)
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reverse.duty_u16(0)
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sleep(2)
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print('stop')
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forward.duty_u16(0)
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sleep(2)
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print('reverse')
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reverse.duty_u16(MAX)
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sleep(2)
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print('stop')
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reverse.duty_u16(0)
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sleep(2)
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‎src/kits/motor-pot/05-pot-motor-speed.py

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from machine import PWM, Pin, ADC
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from utime import sleep
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# this is the built-in LED on the Pico
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led = Pin(25, Pin.OUT)
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# ADC0 is GPIO 26. Connect to row 10 the right side
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pot = ADC(26)
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# Motor Setup
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# motors just barely turn at this power level
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MAX = 65025
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# lower right pins with USB on top
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FOR_PIN = 16
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REV_PIN = 17
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forward = PWM(Pin(FOR_PIN))
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reverse = PWM(Pin(REV_PIN))
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forward.freq(50)
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reverse.freq(50)
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while True:
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pot_value = pot.read_u16()
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print('pot value:', pot_value)
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forward.duty_u16(pot_value)
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reverse.duty_u16(0)
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sleep(.1)
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