thomas
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CatToy
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add adc, button, led

Thomas Buck 1 year ago
parent
88a7c2b5c2
commit
40b3c9e3fa
4 changed files with 202 additions and 20 deletions
Unified View Show Diff Stats
  1. 137
    8
      CatToy.py
  2. 4
    4
      copy.sh
  3. 16
    0
      log.py
  4. 45
    8
      toy.py

+ 137
- 8
CatToy.py View File

1 
 from wifi import Wifi
 1 
 from wifi import Wifi
2 
 from config import Config
 2 
 from config import Config
3 
 from toy import Toy
 3 
 from toy import Toy
4 
+from log import LogDup
4 
 import random
 5 
 import random
6 
+import time
5 
 from machine import Timer
 7 
 from machine import Timer
8 
+import os
9 
+
10 
+stdio_data = LogDup()
11 
+os.dupterm(stdio_data)
12 
+
13 
+print("Initializing CatToy...")
14 
+t = Toy()
6
15
7 
 max_laser_power = 0.1
 16 
 max_laser_power = 0.1
8
17
9 
 limits = [
 18 
 limits = [
10 
     # pan_min, pan_max, tilt_min, tilt_max, name
 19 
     # pan_min, pan_max, tilt_min, tilt_max, name
11 
-    (84, 120, 53, 76, 'office desk, front right')
20 
+    (84, 120, 53, 76, '3d printer tower, top'),
21 
+    (84, 120, 53, 76, 'office desk, front right'),
22 
+    (t.maximum_limits[0], t.maximum_limits[1], t.maximum_limits[2], t.maximum_limits[3], 'maximum'),
12 
 ]
 23 
 ]
13
24
25 
+minimumBatteryVoltage = 3.25 * 2.0
26 
+maximumBatteryVoltage = 4.2 * 2.0
27 
+
14 
 timerRunning = False
 28 
 timerRunning = False
15 
 timerData = None
 29 
 timerData = None
16 
 outlineIndex = 0
 30 
 outlineIndex = 0
31 
+buttonSelection = 0
32 
+ledPattern = None
33 
+patternIndex = 0
34 
+patternTime = time.ticks_ms()
35 
+buttonTime = None
36 
+
37 
+repeatTimer = Timer()
38 
+buttonTimer = Timer()
39 
+ledTimer = Timer()
40 
+
41 
+random.seed()
17
42
18 
 def buildPage(header, footer):
 43 
 def buildPage(header, footer):
19 
     html = """<!DOCTYPE html>
 44 
     html = """<!DOCTYPE html>
55 
                 <input type="submit" name="s" value="Outline"><br>
 80 
                 <input type="submit" name="s" value="Outline"><br>
56 
                 Status: %s
 81 
                 Status: %s
57 
             </form>
 82 
             </form>
83 
+            <h2>Status</h2>
84 
+            <p><b>Battery:</b> %s
58 
             %s
 85 
             %s
86 
+            <h2>Console</h2>
87 
+            <pre>%s</pre>
59 
         </body>
 88 
         </body>
60 
     </html>
 89 
     </html>
61 
     """
 90 
     """
70 
     if timerRunning:
 99 
     if timerRunning:
71 
         status = "Program in progress"
 100 
         status = "Program in progress"
72
101
73 
-    page = html % (header, int(max_laser_power * 100.0), sl, status, footer)
74 
-    return page
102 
+    vb = t.getBatteryVoltage()
103 
+    pb = (vb - minimumBatteryVoltage) / (maximumBatteryVoltage - minimumBatteryVoltage) * 100.0
104 
+    pb = max(min(pb, 100), 0)
105 
+    battery = str(vb) + "V (" + str(pb) + "%)"
75
106
76 
-random.seed()
77 
-t = Toy()
107 
+    page = html % (header, int(max_laser_power * 100.0), sl, status, battery, footer, stdio_data.data.decode("utf-8"))
108 
+    return page
78
109
79 
 def rootCallback(request):
 110 
 def rootCallback(request):
111 
+    pan_min, pan_max, tilt_min, tilt_max = t.maximum_limits
80 
     return buildPage(
 112 
     return buildPage(
81 
         '<p>Welcome to the Cat Toy interface by <a href="https://www.xythobuz.de">xythobuz</a>.</p>',
 113 
         '<p>Welcome to the Cat Toy interface by <a href="https://www.xythobuz.de">xythobuz</a>.</p>',
82 
-        "<p><b>Limits:</b> tMin={} tMax={} pMin={} pMax={}</p>".format(t.tilt_min, t.tilt_max, t.pan_min, t.pan_max)
114 
+        "<p><b>Limits:</b> tMin={} tMax={} pMin={} pMax={}</p>".format(tilt_min, tilt_max, pan_min, pan_max)
83 
     )
 115 
     )
84
116
85 
 def servoCallback(request):
 117 
 def servoCallback(request):
118 
+    if t.getBatteryVoltage() < minimumBatteryVoltage:
119 
+        stopRepeat()
120 
+        t.free()
121 
+        return buildPage(
122 
+            '<p>Error: Battery Voltage too low. <b>Please charge them!</b></p>',
123 
+            '<p><a href="/">Back to main page</a></p>'
124 
+        )
125 
+
86 
     q = request.find("/servos?")
 126 
     q = request.find("/servos?")
87 
     p1 = request.find("s1=")
 127 
     p1 = request.find("s1=")
88 
     p2 = request.find("s2=")
 128 
     p2 = request.find("s2=")
119 
     )
 159 
     )
120
160
121 
 def laserCallback(request):
 161 
 def laserCallback(request):
162 
+    if t.getBatteryVoltage() < minimumBatteryVoltage:
163 
+        stopRepeat()
164 
+        t.free()
165 
+        return buildPage(
166 
+            '<p>Error: Battery Voltage too low. <b>Please charge them!</b></p>',
167 
+            '<p><a href="/">Back to main page</a></p>'
168 
+        )
169 
+
122 
     value = 0.0
 170 
     value = 0.0
123 
     text = "off"
 171 
     text = "off"
124
172
138 
     )
 186 
     )
139
187
140 
 def randomMoveCallback(request):
 188 
 def randomMoveCallback(request):
189 
+    if t.getBatteryVoltage() < minimumBatteryVoltage:
190 
+        stopRepeat()
191 
+        t.free()
192 
+        return buildPage(
193 
+            '<p>Error: Battery Voltage too low. <b>Please charge them!</b></p>',
194 
+            '<p><a href="/">Back to main page</a></p>'
195 
+        )
196 
+
141 
     tilt = random.randint(t.tilt_min, t.tilt_max)
 197 
     tilt = random.randint(t.tilt_min, t.tilt_max)
142 
     pan = random.randint(t.pan_min, t.pan_max)
 198 
     pan = random.randint(t.pan_min, t.pan_max)
143 
     print("random: tilt={} pan={}".format(tilt, pan))
 199 
     print("random: tilt={} pan={}".format(tilt, pan))
170 
     t.angle(t.pan, pan)
 226 
     t.angle(t.pan, pan)
171
227
172 
 def timerCallback(unused):
 228 
 def timerCallback(unused):
173 
-    global timerRunning, timerData
229 
+    global timerRunning, timerData, repeatTimer
230 
+
231 
+    if t.getBatteryVoltage() < minimumBatteryVoltage:
232 
+        print("Abort due to low battery voltage: " + str(t.getBatteryVoltage()))
233 
+        stopRepeat()
234 
+        t.free()
235 
+        return
174
236
175 
     if not timerRunning:
 237 
     if not timerRunning:
176 
         return
 238 
         return
193 
             doMove(pan_min, pan_max, tilt_min, tilt_max, dur)
 255 
             doMove(pan_min, pan_max, tilt_min, tilt_max, dur)
194 
         else:
 256 
         else:
195 
             doOutline(pan_min, pan_max, tilt_min, tilt_max, dur)
 257 
             doOutline(pan_min, pan_max, tilt_min, tilt_max, dur)
196 
-        tim = Timer(period = dur, mode=Timer.ONE_SHOT, callback = timerCallback)
258 
+        repeatTimer.init(period = dur, mode = Timer.ONE_SHOT, callback = timerCallback)
197 
     else:
 259 
     else:
198 
         timerRunning = False
 260 
         timerRunning = False
199 
         t.laser(0.0)
 261 
         t.laser(0.0)
215 
     t.laser(0.0)
 277 
     t.laser(0.0)
216
278
217 
 def repeatCallback(request):
 279 
 def repeatCallback(request):
280 
+    if t.getBatteryVoltage() < minimumBatteryVoltage:
281 
+        stopRepeat()
282 
+        t.free()
283 
+        return buildPage(
284 
+            '<p>Error: Battery Voltage too low. <b>Please charge them!</b></p>',
285 
+            '<p><a href="/">Back to main page</a></p>'
286 
+        )
287 
+
218 
     q = request.find("/repeat?")
 288 
     q = request.find("/repeat?")
219 
     pl = request.find("limit=", q)
 289 
     pl = request.find("limit=", q)
220 
     ps = request.find("steps=", pl)
 290 
     ps = request.find("steps=", pl)
270 
         '<p><a href="/">Back to main page</a></p>'
 340 
         '<p><a href="/">Back to main page</a></p>'
271 
     )
 341 
     )
272
342
343 
+def buttonCallback(state):
344 
+    global timerRunning, buttonSelection, buttonTime
345 
+
346 
+    if state:
347 
+        buttonTime = time.ticks_ms()
348 
+    elif buttonTime != None:
349 
+        if time.ticks_diff(time.ticks_ms(), buttonTime) <= 500:
350 
+            buttonSelection = (buttonSelection + 1) % len(limits)
351 
+            print("Selection: " + str(buttonSelection + 1))
352 
+        else:
353 
+            if not timerRunning:
354 
+                pan_min, pan_max, tilt_min, tilt_max, name = limits[buttonSelection]
355 
+                print("Start pattern " + name)
356 
+                startRepeat(pan_min, pan_max, tilt_min, tilt_max, 200, 2500, False)
357 
+            else:
358 
+                print("Stop")
359 
+                stopRepeat()
360 
+
361 
+def ledStatus():
362 
+    global timerRunning, buttonSelection, ledPattern, patternIndex, patternTime
363 
+    patternMode = False
364 
+
365 
+    if t.getBatteryVoltage() < minimumBatteryVoltage:
366 
+        patternMode = True
367 
+        pattern = [ 100, 100 ]
368 
+    elif timerRunning:
369 
+        t.status(True)
370 
+    else:
371 
+        patternMode = True
372 
+        pattern = [ 300 ] * (buttonSelection * 2 + 1) + [ 1500 ]
373 
+
374 
+    if patternMode:
375 
+        if pattern != ledPattern:
376 
+            ledPattern = pattern
377 
+            patternIndex = 0
378 
+            patternTime = time.ticks_ms()
379 
+
380 
+        if time.ticks_diff(time.ticks_ms(), patternTime) >= ledPattern[patternIndex]:
381 
+            t.status(patternIndex % 2 == 1)
382 
+            patternIndex = (patternIndex + 1) % len(ledPattern)
383 
+            patternTime = time.ticks_ms()
384 
+
385 
+def buttonTimerCallback(timer):
386 
+    global buttonTimer
387 
+    t.poll(buttonCallback)
388 
+    buttonTimer.init(period = 25, mode = Timer.ONE_SHOT, callback = buttonTimerCallback)
389 
+
390 
+def ledTimerCallback(timer):
391 
+    global ledTimer
392 
+    ledStatus()
393 
+    ledTimer.init(period = 100, mode = Timer.ONE_SHOT, callback = ledTimerCallback)
394 
+
395 
+print("Starting Timers...")
396 
+buttonTimerCallback(None)
397 
+ledTimerCallback(None)
398 
+
399 
+print("Initializing WiFi...")
273 
 w = Wifi(Config.ssid, Config.password)
 400 
 w = Wifi(Config.ssid, Config.password)
274 
 w.add_handler("/", rootCallback)
 401 
 w.add_handler("/", rootCallback)
275 
 w.add_handler("/servos", servoCallback)
 402 
 w.add_handler("/servos", servoCallback)
277 
 w.add_handler("/random_move", randomMoveCallback)
 404 
 w.add_handler("/random_move", randomMoveCallback)
278 
 w.add_handler("/repeat", repeatCallback)
 405 
 w.add_handler("/repeat", repeatCallback)
279 
 w.listen()
 406 
 w.listen()
407 
+
408 
+print("Ready!")

+ 4
- 4
copy.sh View File

1 
 #!/bin/bash
 1 
 #!/bin/bash
2
2
3 
-PORT=/dev/ttyACM1
4 
-
5 
 if [ $# -ne 0 ] ; then
 3 
 if [ $# -ne 0 ] ; then
6 
-cat << EOF | rshell -p $PORT
4 
+cat << EOF | rshell
7 
 cp config.py /pyboard
 5 
 cp config.py /pyboard
6 
+cp log.py /pyboard
8 
 cp servo.py /pyboard
 7 
 cp servo.py /pyboard
9 
 cp toy.py /pyboard
 8 
 cp toy.py /pyboard
10 
 cp wifi.py /pyboard
 9 
 cp wifi.py /pyboard
11 
 cp $1 /pyboard/main.py
 10 
 cp $1 /pyboard/main.py
12 
 EOF
 11 
 EOF
13 
 else
 12 
 else
14 
-cat << EOF | rshell -p $PORT
13 
+cat << EOF | rshell
15 
 cp config.py /pyboard
 14 
 cp config.py /pyboard
15 
+cp log.py /pyboard
16 
 cp servo.py /pyboard
 16 
 cp servo.py /pyboard
17 
 cp toy.py /pyboard
 17 
 cp toy.py /pyboard
18 
 cp wifi.py /pyboard
 18 
 cp wifi.py /pyboard

+ 16
- 0
log.py View File

1 
+# https://forum.micropython.org/viewtopic.php?t=5442
2 
+
3 
+import io
4 
+
5 
+class LogDup(io.IOBase):
6 
+    def __init__(self):
7 
+        self.data = bytearray()
8 
+
9 
+    def write(self, data):
10 
+        self.data += data
11 
+        if len(self.data) > 1024:
12 
+            self.data = self.data[len(self.data) - 1024 : ]
13 
+        return len(data)
14 
+
15 
+    def readinto(self, data):
16 
+        return 0

+ 45
- 8
toy.py View File

1 
 # https://how2electronics.com/how-to-control-servo-motor-with-raspberry-pi-pico/
 1 
 # https://how2electronics.com/how-to-control-servo-motor-with-raspberry-pi-pico/
2
2
3 
 import time
 3 
 import time
4 
-from machine import Pin, PWM
4 
+from machine import Pin, PWM, ADC
5 
 from servo import Servo
 5 
 from servo import Servo
6
6
7 
 class Toy:
 7 
 class Toy:
10 
         servo1: GPIO pin number of the pan servo.
 10 
         servo1: GPIO pin number of the pan servo.
11 
         servo2: GPIO pin number of the tilt servo.
 11 
         servo2: GPIO pin number of the tilt servo.
12 
         laser: GPIO pin number of the laser diode.
 12 
         laser: GPIO pin number of the laser diode.
13 
+        button: GPIO pin number of an active high push button.
14 
+        led: GPIO pin number of an active high LED.
15 
+        battery: ADC pin number of battery voltage divider.
13 
     """
 16 
     """
14
17
15 
     # maximum movements on cardboard box
 18 
     # maximum movements on cardboard box
16 
     # pan_min, pan_max, tilt_min, tilt_max
 19 
     # pan_min, pan_max, tilt_min, tilt_max
17 
     maximum_limits = (20, 160, 0, 90)
 20 
     maximum_limits = (20, 160, 0, 90)
18
21
19 
-    def __init__(self, servo1 = 28, servo2 = 27, laser = 2):
22 
+    last_button = None
23 
+    time_button = None
24 
+    last_value = None
25 
+
26 
+    # Battery Voltage divider
27 
+    r1 = 18000.0
28 
+    r2 = 10000.0
29 
+
30 
+    def __init__(self, servo1 = 28, servo2 = 27, laser = 2, button = 22, led = 16, battery = 26):
20 
         self.laserPin = PWM(Pin(laser, Pin.OUT))
 31 
         self.laserPin = PWM(Pin(laser, Pin.OUT))
21 
         self.laserPin.freq(1000)
 32 
         self.laserPin.freq(1000)
22 
         self.laser(0)
 33 
         self.laser(0)
27 
         pan_min, pan_max, tilt_min, tilt_max = self.maximum_limits
 38 
         pan_min, pan_max, tilt_min, tilt_max = self.maximum_limits
28 
         self.angle(self.pan, int((pan_max - pan_min) / 2) + pan_min)
 39 
         self.angle(self.pan, int((pan_max - pan_min) / 2) + pan_min)
29 
         self.angle(self.tilt, int((tilt_max - tilt_min) / 2) + tilt_min)
 40 
         self.angle(self.tilt, int((tilt_max - tilt_min) / 2) + tilt_min)
30 
-        time.sleep(0.1)
31 
-        self.pan.free()
32 
-        self.tilt.free()
41 
+        time.sleep(0.2)
42 
+        self.free()
43 
+
44 
+        self.button = Pin(button, Pin.IN, Pin.PULL_UP)
45 
+        self.led = Pin(led, Pin.OUT)
46 
+        self.battery = ADC(Pin(battery, Pin.IN))
33
47
34 
     def map_value(self, x, in_min, in_max, out_min, out_max):
 48 
     def map_value(self, x, in_min, in_max, out_min, out_max):
35 
         return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
 49 
         return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
45 
         v = 1.0 - value
 59 
         v = 1.0 - value
46 
         self.laserPin.duty_u16(int(v * 65535))
 60 
         self.laserPin.duty_u16(int(v * 65535))
47
61
62 
+    def getBatteryVoltage(self):
63 
+        adc = self.battery.read_u16()
64 
+        u2 = adc / 65535.0 * 3.3
65 
+        u1 = u2 / (self.r2 / (self.r1 + self.r2))
66 
+        #print("ADC:", adc, u2, u1)
67 
+        return u1
68 
+
69 
+    def status(self, state):
70 
+        self.led(1 if state else 0)
71 
+
72 
+    def poll(self, callback):
73 
+        val = not self.button.value()
74 
+        if val != self.last_button:
75 
+            self.time_button = time.ticks_ms()
76 
+            self.last_button = val
77 
+
78 
+        if time.ticks_diff(time.ticks_ms(), self.time_button) > 50:
79 
+            if self.last_value != val:
80 
+                callback(val)
81 
+                self.last_value = val
82 
+
83 
+    def free(self):
84 
+        self.tilt.free()
85 
+        self.pan.free()
86 
+
48 
     def test(self, steps = 10):
 87 
     def test(self, steps = 10):
49 
         pan_min, pan_max, tilt_min, tilt_max = self.maximum_limits
 88 
         pan_min, pan_max, tilt_min, tilt_max = self.maximum_limits
50
89
57 
                 self.angle(self.pan, x)
 96 
                 self.angle(self.pan, x)
58 
                 time.sleep(0.2)
 97 
                 time.sleep(0.2)
59
98
60 
-        self.tilt.free()
61 
-        self.pan.free()
62 
-
99 
+        self.free()
63 
         self.laser(0)
 100 
         self.laser(0)

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