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‎src/kits/tof-pot-motor-display/01-tof-i2c-scanner-test.py

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import machine
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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)
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print('i2c result:', i2c)
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address = i2c.scan()
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print('Scan result:', address)
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decimal = address[0]
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hex = hex(decimal)
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print('The VL53L0X has expected values of decimal 41 and hex 0x29')
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print("Device found at decimal: ", i2c.scan(), decimal, hex)
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if (decimal == 41):
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print('PASS')
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else:
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print('FAIL')

‎src/kits/tof-pot-motor-display/12-display-pot-tof.py

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# VL53L0X Display Test
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from machine import ADC, I2C, Pin, PWM
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import VL53L0X
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import ssd1306
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from utime import sleep
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WIDTH = 128
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HEIGHT = 64
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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_MAX_VALUE = 200 # dist in cm anything beyond this we will ignore
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TOF_MIN_OFFSET = 35 # subtract from raw sensor
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TOF_SCALE = 0.5 # scale the result
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pot = ADC(26)
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# returns a value from 0 to 127
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def read_pot_128():
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return pot.read_u16() >> 9
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# map a value from one rante into another range
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# checks for divide by zero
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def map(value, istart, istop, ostart, ostop):
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# check ff (istop - istart)
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if (istop - istart) == 0:
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return ostop
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else:
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return int(ostart + (ostop - ostart) * ((value - istart) / (istop - istart)))
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def vline_dash(x, y, length, dash_length, color):
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number_dashes = length // dash_length
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for i in range(number_dashes):
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oled.vline(x, y + i*dash_length, dash_length // 2, color)
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def update_display(dist, potValue):
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oled.fill(0)
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if dist < TOF_MAX_VALUE:
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print('dist:', dist)
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oled.text('Pot:'+ str(potValue), 0, 46, 1)
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oled.text('Distance:'+ str(round(dist))+'cm', 0, 56, 1)
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# convert to a scale of 0 to 127
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tofX = map(dist, 0, TOF_MAX_VALUE, 0, WIDTH)
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oled.vline(tofX, 0, HEIGHT-20, 1)
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else:
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print('out of range:', dist)
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oled.text('Out of range', 0, 0, 1)
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vline_dash(potValue, 0, HEIGHT-20, 7, 1)
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oled.show()
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def dist_cm():
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tof_value = tof.read()
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# these constants need clibration
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dist_in_cm = (tof_value - TOF_MIN_OFFSET) * TOF_SCALE
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if dist_in_cm < 0:
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return 0
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elif dist_in_cm > TOF_MAX_VALUE:
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return TOF_MAX_VALUE
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else:
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return dist_in_cm
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tof.start()
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while True:
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# get distace in cm
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dist = dist_cm()
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potValue = read_pot_128()
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update_display(dist, potValue)
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sleep(.1)
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‎src/kits/tof-pot-motor-display/13-obstacle-warning.py

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# VL53L0X Display Test
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from machine import ADC, I2C, Pin, PWM
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import VL53L0X
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import ssd1306
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from utime import sleep
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# Display Setup
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WIDTH = 128
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HEIGHT = 64
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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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# Tof Setup
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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_MAX_VALUE = 200 # dist in cm anything beyond this we will ignore
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TOF_MIN_OFFSET = 35 # subtract from raw sensor
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TOF_SCALE = 0.5 # scale the result
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# ADC Setup
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pot = ADC(26)
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# Motor Setup
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MAX_MOTOR = 65025
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# lower right pins with USB on top
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FOR_PIN = 18
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REV_PIN = 19
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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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forward.freq(50)
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# turn off the both motors
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forward.duty_u16(0)
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reverse.duty_u16(0)
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# returns a value from 0 to 127
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def read_pot_128():
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return pot.read_u16() >> 9
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# map a value from one rante into another range
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# checks for divide by zero
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def map(value, istart, istop, ostart, ostop):
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# check ff (istop - istart)
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if (istop - istart) == 0:
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return ostop
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else:
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return int(ostart + (ostop - ostart) * ((value - istart) / (istop - istart)))
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def vline_dash(x, y, length, dash_length, color):
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number_dashes = length // dash_length
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for i in range(number_dashes):
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oled.vline(x, y + i*dash_length, dash_length // 2, color)
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def update_display(dist, potValue):
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oled.fill(0)
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if dist < TOF_MAX_VALUE:
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print('dist:', dist)
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#oled.text('Pot:'+ str(potValue), 0, 46, 1)
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#oled.text('Distance:'+ str(round(dist))+'cm', 0, 56, 1)
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tofX = map(dist, 0, TOF_MAX_VALUE, 0, WIDTH)
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oled.vline(tofX, 0, HEIGHT-10, 1)
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if tofX > potValue:
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oled.text('Drive Forward!', 0, 56, 1)
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forward.duty_u16(MAX_MOTOR)
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reverse.duty_u16(0)
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else:
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oled.text('Backup!', 0, 56, 1)
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forward.duty_u16(0)
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reverse.duty_u16(MAX_MOTOR)
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# convert to a scale of 0 to 127
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else:
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print('out of range:', dist)
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oled.text('Out of range', 0, 56, 1)
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# draw the vertical line x, y, length, pixels on, color
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vline_dash(potValue, 0, HEIGHT-8, 7, 1)
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oled.show()
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def dist_cm():
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tof_value = tof.read()
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# these constants need clibration
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dist_in_cm = (tof_value - TOF_MIN_OFFSET) * TOF_SCALE
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if dist_in_cm < 0:
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return 0
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elif dist_in_cm > TOF_MAX_VALUE:
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return TOF_MAX_VALUE
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else:
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return dist_in_cm
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tof.start()
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while True:
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# get distace in cm
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dist = dist_cm()
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potValue = read_pot_128()
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update_display(dist, potValue)
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sleep(.1)
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‎src/kits/tof-pot-motor-display/main.py

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# VL53L0X Display Test
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from machine import ADC, I2C, Pin, PWM
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import VL53L0X
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import ssd1306
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from utime import sleep
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# Display Setup
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WIDTH = 128
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HEIGHT = 64
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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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# Tof Setup
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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_MAX_VALUE = 200 # dist in cm anything beyond this we will ignore
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TOF_MIN_OFFSET = 35 # subtract from raw sensor
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TOF_SCALE = 0.5 # scale the result
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# ADC Setup
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pot = ADC(26)
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# Motor Setup
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MAX_MOTOR = 65025
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# lower right pins with USB on top
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FOR_PIN = 18
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REV_PIN = 19
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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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forward.freq(50)
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# turn off the both motors
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forward.duty_u16(0)
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reverse.duty_u16(0)
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# returns a value from 0 to 127
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def read_pot_128():
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return pot.read_u16() >> 9
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# map a value from one rante into another range
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# checks for divide by zero
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def map(value, istart, istop, ostart, ostop):
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# check ff (istop - istart)
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if (istop - istart) == 0:
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return ostop
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else:
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return int(ostart + (ostop - ostart) * ((value - istart) / (istop - istart)))
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def vline_dash(x, y, length, dash_length, color):
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number_dashes = length // dash_length
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for i in range(number_dashes):
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oled.vline(x, y + i*dash_length, dash_length // 2, color)
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def update_display(dist, potValue):
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oled.fill(0)
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if dist < TOF_MAX_VALUE:
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print('dist:', dist)
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#oled.text('Pot:'+ str(potValue), 0, 46, 1)
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#oled.text('Distance:'+ str(round(dist))+'cm', 0, 56, 1)
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tofX = map(dist, 0, TOF_MAX_VALUE, 0, WIDTH)
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oled.vline(tofX, 0, HEIGHT-10, 1)
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if tofX > potValue:
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oled.text('Drive Forward!', 0, 56, 1)
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forward.duty_u16(MAX_MOTOR)
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reverse.duty_u16(0)
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else:
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oled.text('Backup!', 0, 56, 1)
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forward.duty_u16(0)
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reverse.duty_u16(MAX_MOTOR)
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# convert to a scale of 0 to 127
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else:
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print('out of range:', dist)
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oled.text('Out of range', 0, 56, 1)
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# draw the vertical line x, y, length, pixels on, color
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vline_dash(potValue, 0, HEIGHT-8, 7, 1)
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oled.show()
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def dist_cm():
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tof_value = tof.read()
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# these constants need clibration
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dist_in_cm = (tof_value - TOF_MIN_OFFSET) * TOF_SCALE
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if dist_in_cm < 0:
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return 0
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elif dist_in_cm > TOF_MAX_VALUE:
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return TOF_MAX_VALUE
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else:
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return dist_in_cm
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tof.start()
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while True:
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# get distace in cm
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dist = dist_cm()
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potValue = read_pot_128()
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update_display(dist, potValue)
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sleep(.1)
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‎src/kits/tof-pot-motor-display/stop-motors.py

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from machine import Pin, PWM
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from time import sleep
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# lower right pins with USB on top
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FORWARD_PIN = 18
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REVERSE_PIN = 19
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forward = PWM(Pin(FORWARD_PIN))
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reverse = PWM(Pin(REVERSE_PIN))
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forward.freq(50)
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forward.freq(50)
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forward.duty_u16(0)
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reverse.duty_u16(0)
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print('Motor Stopped')

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