# import necessary libraries from microbit import * import gc from machine import time_pulse_us import neopixel import music # define here your Joy Car Mainboard Revision joycar_rev = 1.3 # initialize I2C interface for the Joy Car Mainboard i2c.init(freq=400000, sda=pin20, scl=pin19) # initialize PWM controller i2c.write(0x70, b'\x00\x01') i2c.write(0x70, b'\xE8\xAA') # the deceleration of a motor bias can be used to compensate for different motor speeds biasR = 0 # deceleration of the right motor in percent biasL = 0 # deceleration of the left motor in percent # control motors using the PWM controller # PWM0 and PWM1 for the left motor and PWM2 and PWM3 for the right motor def drive(PWM0, PWM1, PWM2, PWM3): # The scale function is used to rescale the bias variables for # the calculation of the motor speed def scale(num, in_min, in_max, out_min, out_max): return (num - in_min) * (out_max - out_min) / (in_max - in_min) + out_min # Scaling of the deceleration value to the value in percent PWM0 = int(PWM0 * (scale(biasR, 0, 100, 100, 0) / 100)) PWM1 = int(PWM1 * (scale(biasR, 0, 100, 100, 0) / 100)) PWM2 = int(PWM2 * (scale(biasL, 0, 100, 100, 0) / 100)) PWM3 = int(PWM3 * (scale(biasL, 0, 100, 100, 0) / 100)) # transmit value for PWM channel (0-255) to PWM controller # 0x70 is the I2C address of the controller. # the byte with the PWM value is added to the byte for the channel i2c.write(0x70, b'\x02' + bytes([PWM0])) i2c.write(0x70, b'\x03' + bytes([PWM1])) i2c.write(0x70, b'\x04' + bytes([PWM2])) i2c.write(0x70, b'\x05' + bytes([PWM3])) # get all sensor data def fetchSensorData(): # Since the zfill function is not included in micro:bit Micropython, # it must be inserted as a function def zfill(s, width): return '{:0>{w}}'.format(s, w=width) # Read hexadecimal data and convert to binary data = "{0:b}".format(ord(i2c.read(0x38, 1))) # fill in the data to 8 digits if necessary data = zfill(data, 8) # declare bol_data_dict as dictionary bol_data_dict = {} # Counter for the loop that enters the data from data into bol_data_dict bit_count = 7 # Transfer the data from data to bol_data_dict for i in data: if i == "0": bol_data_dict[bit_count] = False bit_count -= 1 else: bol_data_dict[bit_count] = True bit_count -= 1 # after main board revision 1.3, the speed sensors are on separate pins if joycar_rev >= 1.3: bol_data_dict[8], bol_data_dict[9] = bol_data_dict[0], bol_data_dict[1] bol_data_dict[0] = bool(pin14.read_digital()) bol_data_dict[1] = bool(pin15.read_digital()) # bit 0 = SpeedLeft, bit 1 = SpeedRight, bit 2 = LineTrackerLeft, # bit 3 = LineTrackerMiddle, bit 4 = LineTrackerRight, # bit 5 = ObstclLeft, bit 6 = ObstclRight, bit 7 = free pin(7) # (bit 8 = free (pin0) bit 9 = free (pin1)) - just with revision 1.3 or newer return bol_data_dict # define pins for ultrasonic sensor trigger = pin8 echo = pin12 # initialize pins for ultrasonic sensor trigger.write_digital(0) echo.read_digital() # method to calculate distance from ultrasonic sensor def get_distance(): # collect garbage gc.collect() # set short impulse onto the trigger pin trigger.write_digital(1) trigger.write_digital(0) # meassure time until echo pin is high duration = time_pulse_us(echo, 1) # calculate distance distance = ((duration / 1000000) * 34300) / 2 # return the distance rounded to 2 decimal digits return round(distance, 2) # setup pins for servomotor pin1.set_analog_period(10) pin13.set_analog_period(10) # method to change position to servo motors def servo(channel, position): # method to scale from 0-180 (°) to 100-200 (us) def scale(num, in_min, in_max, out_min, out_max): # Rückgabe des auf eine ganze Zahl gerundeten Werts return (round((num - in_min) * (out_max - out_min) / (in_max - in_min) + out_min)) # check if position is in range if position < 0 and position > 180: return "position not in range" # send position to selected channel if channel == 1: pin1.write_analog(scale(position, 0, 180, 100, 200)) elif channel == 2: pin13.write_analog(scale(position, 0, 180, 100, 200)) # define object for the lights np = neopixel.NeoPixel(pin0, 8) # --- LEDs --- # set all LEDs to white for x in range(0,8): np[x] = (255, 255, 255) np.show() # print prompt to check LED state print("Does all the LEDs work? y/n") ans = input() # save data if ans == "y" or ans == "Y": led_state = True elif ans == "n" or ans == "N": led_state = False else: led_state = None # deactivate all LEDs again for x in range(0,8): np[x] = (0, 0, 0) np.show() # --- Obstacle sensors --- # save current time time = running_time() # print prompt to check left obstacle sensor state print("Hold something in front of the left obstacle sensor.") left_obstacle_state = False # loop limited on 5 seconds to prevent infinite loop if sensor does not work while running_time()-time < 5000: # fetch sensor data sensor_data = fetchSensorData() # if something is recognized by sensor -> end loop and set state true if sensor_data[5] is True: left_obstacle_state = True break if left_obstacle_state is True: left_obstacle_state = False # save current time time = running_time() # loop limited on 5 seconds to prevent infinite loop if sensor does not work while running_time()-time < 5000: # fetch sensor data sensor_data = fetchSensorData() # if something is recognized by sensor -> end loop and set state true if sensor_data[5] is False: left_obstacle_state = True break # save current time time = running_time() # print prompt to check right obstacle sensor state print("Hold something in front of the right obstacle sensor.") right_obstacle_state = False # loop limited on 5 seconds to prevent infinite loop if sensor does not work while running_time()-time < 5000: # fetch sensor data sensor_data = fetchSensorData() # if something is recognized by sensor -> end loop and set state true if sensor_data[6] is False: right_obstacle_state = True break if right_obstacle_state is True: right_obstacle_state = False # save current time time = running_time() # loop limited on 5 seconds to prevent infinite loop if sensor does not work while running_time()-time < 5000: # fetch sensor data sensor_data = fetchSensorData() # if something is recognized by sensor -> end loop and set state true if sensor_data[6] is False: right_obstacle_state = True break # --- Line sensors --- print("Lie the Joy Car on the side") # save current time time = running_time() # variables for all_line_state = False left_line_state = False middle_line_state = False right_line_state = False while running_time()-time < 10000: # fetch sensor data sensor_data = fetchSensorData() if sensor_data[2] is True and sensor_data[3] is True and sensor_data[4] is True: all_line_state = True break if all_line_state is True: # print prompt to check left line sensor state print("Hold something in front of the left line sensor.") # save current time time = running_time() # loop limited on 5 seconds to prevent infinite loop if sensor does not work while running_time()-time < 5000: # fetch sensor data sensor_data = fetchSensorData() # if something is recognized by sensor -> end loop and set state true if sensor_data[2] is False: left_line_state = True break # print prompt to check left line sensor state print("Hold something in front of the middle line sensor.") # save current time time = running_time() # loop limited on 5 seconds to prevent infinite loop if sensor does not work while running_time()-time < 5000: # fetch sensor data sensor_data = fetchSensorData() # if something is recognized by sensor -> end loop and set state true if sensor_data[3] is False: middle_line_state = True break # print prompt to check left line sensor state print("Hold something in front of the right line sensor.") # save current time time = running_time() # loop limited on 5 seconds to prevent infinite loop if sensor does not work while running_time()-time < 5000: # fetch sensor data sensor_data = fetchSensorData() # if something is recognized by sensor -> end loop and set state true if sensor_data[4] is False: right_line_state = True break print("Put the JoyCar back to normal position.") # --- Speed sensors --- # print prompt to check left speed sensor state print("Rotate the left wheel.") # save current time time = running_time() left_speed_state = False # loop limited on 5 seconds to prevent infinite loop if sensor does not work while running_time()-time < 5000: # fetch sensor data sensor_data = fetchSensorData() # if something is recognized by sensor -> end loop and set state true if sensor_data[0] is True: left_speed_state = True break if left_speed_state is True: left_speed_state = False # save current time time = running_time() # loop limited on 5 seconds to prevent infinite loop if sensor does not work while running_time()-time < 5000: # fetch sensor data sensor_data = fetchSensorData() # if something is recognized by sensor -> end loop and set state true if sensor_data[0] is False: left_speed_state = True break # print prompt to check right speed sensor state print("Rotate the right wheel.") # save current time time = running_time() right_speed_state = False # loop limited on 5 seconds to prevent infinite loop if sensor does not work while running_time()-time < 5000: # fetch sensor data sensor_data = fetchSensorData() # if something is recognized by sensor -> end loop and set state true if sensor_data[1] is True: right_speed_state = True break if right_speed_state is True: right_speed_state = False # save current time time = running_time() # loop limited on 5 seconds to prevent infinite loop if sensor does not work while running_time()-time < 5000: # fetch sensor data sensor_data = fetchSensorData() # if something is recognized by sensor -> end loop and set state true if sensor_data[1] is False: right_speed_state = True break # --- Motors --- # print prompt to check motor state print("Does the left wheel rotate? (Y/N)") drive(0, 0, 0, 255) ans = input() # save data if ans == "y" or ans == "Y": left_motor_state = True elif ans == "n" or ans == "N": left_motor_state = False else: left_motor_state = None # print prompt to check motor state print("Does the right wheel rotate? (Y/N)") drive(0, 255, 0, 0) ans = input() # save data if ans == "y" or ans == "Y": right_motor_state = True elif ans == "n" or ans == "N": right_motor_state = False else: right_motor_state = None drive(0, 0, 0, 0) # --- Servomotor --- print("Does the servo on channel 1 move? (Y/N)") servo(1, 0) sleep(500) servo(1, 180) sleep(500) servo(1, 90) ans = input() # save data if ans == "y" or ans == "Y": servo_state = True elif ans == "n" or ans == "N": servo_state = False else: servo_state = None # --- ADC --- if pin2.read_analog() != 0: adc_state = True else: adc_state = False # --- Buzzer --- music.pitch(440, 500, pin=pin16) sleep(1000) print("Did you hear a noise from the buzzer? (Y/N)") ans = input() if ans == "y" or ans == "Y": buzzer_state = True elif ans == "n" or ans == "N": buzzer_state = False else: buzzer_state = None # --- print all --- print("LEDs:", led_state) print("Left obstacle sensor:", left_obstacle_state) print("Right obstacle sensor:", right_obstacle_state) print("Left line sensor:", left_line_state) print("Middle line sensor:", middle_line_state) print("Right line sensor:", right_line_state) print("Left speed sensor:", left_speed_state) print("Right speed sensor:", right_speed_state) print("Left motor:", left_motor_state) print("Right motor:", right_motor_state) print("Servomotor:", servo_state) print("ADC:", adc_state) print("Buzzer:", buzzer_state)