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kuukar-rpi
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This commit is contained in:
Siwat Sirichai 2022-12-08 21:36:11 +07:00
parent 3766284cde
commit 26b353762c
5 changed files with 17 additions and 65 deletions
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1
app.py
View File

@ -21,7 +21,6 @@ from kuukar.kuukar import kuukar
# collision = kuukar_collision.collision(mcu, lcd, leds)
car = kuukar()
while True:
temp = car.sensors.get_temperature()
humid = car.sensors.get_humidity_pct()

4
kuukar/kuukar.py
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@ -12,9 +12,7 @@ class kuukar:
def __init__(self) -> None:
self.mcu = telemetrix_rpi_pico.TelemetrixRpiPico(
com_port=SERIAL_MCU, sleep_tune=0.001)
self.drv = telemetrix_rpi_pico.TelemetrixRpiPico(
com_port=SERIAL_DRV, sleep_tune=0.001)
self.sensors = kuukar_sensors.sensors(self.mcu, self.drv)
self.sensors = kuukar_sensors.sensors(self.mcu)
self.leds = kuukar_leds.leds(self.mcu)
self.motion = kuukar_motion.motion(
self.mcu, self.drv, self.leds, self.sensors)

16
kuukar/kuukar_config.py
View File

@ -1,11 +1,9 @@
SERIAL_MCU = "/dev/serial/by-id/usb-Raspberry_Pi_Pico_E660B4400771212A-if00"
SERIAL_DRV = "/dev/serial/by-id/usb-Raspberry_Pi_Pico_E6609CB2D3846033-if00"
SERIAL_MCU = "/dev/serial/by-id/usb-Raspberry_Pi_Pico_E6609CB2D3846033-if00"
SERIAL_LCD = "/dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0"
# HC Sonar Pins
SONAR_1_ADC_PIN = 0
SONAR_2_ADC_PIN = 1
SONAR_3_ADC_PIN = 2
# Sonar Pin
SONAR_ADC_PIN = 1
# Motor Pins
MOTOR_FL_F = 7
@ -20,8 +18,6 @@ MOTOR_RR_R = 12
# Full Speed 90 Degrees Turn Time
TURN_TIME_FS_90DEG_MS = 3000.0
BEEPER_PIN = 15
COLLISION_DETECTOR_PIN = 16
COLLISION_ENABLE = True
@ -32,6 +28,6 @@ LEFT_SIGNAL_LEDS = [4, 5, 6, 7]
RIGHT_SIGNAL_LEDS = [0, 1, 14, 15]
REVERSE_LEDS = [11, 10, 9]
LIGHT_SENSOR_PIN = 2
LIGHT_SENSOR_PIN = 0
DHT22_PIN = 14
DHT22_PIN = 0

36
kuukar/kuukar_motion.py
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@ -114,40 +114,6 @@ class motion:
time.sleep(0.3)
def __roam_handle(self):
sensitivity = 35
turn_speed = 40
drive_speed = 25
f_dist = self.sensors.sonar_get_distance(1)
if 0 < f_dist < sensitivity: # Close to collision, turn the vehicle
print("collision")
self.drive(-drive_speed)
time.sleep(0.75)
self.stop()
l_dist = self.sensors.sonar_get_distance(0)
r_dist = self.sensors.sonar_get_distance(2)
if l_dist < sensitivity: # Left side is blocked
if r_dist < sensitivity: # Both side are blocked, do a full 180deg turn
print("full turn")
self.turn(30, 2)
self.drive(23)
else:
# Right Side is Free, turn right
print("right turn")
self.turn(turn_speed, 1)
self.drive(drive_speed)
elif r_dist < sensitivity: # Right side is blocked, left side is free, turn left
print("right left")
self.turn(-turn_speed, 1)
self.drive(drive_speed)
else: # Both Side are free, randomize a direction
print("turn random")
right: bool = randint(0, 1)
if right:
self.turn(turn_speed, 1)
self.drive(drive_speed)
else:
self.turn(-turn_speed, 1)
self.drive(drive_speed)
time.sleep(1)
if not self.roaming:
self.stop()

25
kuukar/kuukar_sensors.py
View File

@ -1,32 +1,25 @@
from telemetrix_rpi_pico import telemetrix_rpi_pico
from kuukar.kuukar_config import DHT22_PIN, SONAR_1_ADC_PIN, SONAR_2_ADC_PIN, SONAR_3_ADC_PIN, LIGHT_SENSOR_PIN
from kuukar.kuukar_config import DHT22_PIN, SONAR_ADC_PIN, LIGHT_SENSOR_PIN
class sensors:
__sonar_adc_pins = [SONAR_1_ADC_PIN,
SONAR_2_ADC_PIN, SONAR_3_ADC_PIN]
__sonar_distances = [0, 0, 0]
__sonar_distances = 0
__temperature = 0
__humidity = 0
__brightness = 0
def __init__(self, mcu: telemetrix_rpi_pico.TelemetrixRpiPico, drv: telemetrix_rpi_pico.TelemetrixRpiPico) -> None:
def __init__(self, mcu: telemetrix_rpi_pico.TelemetrixRpiPico) -> None:
self.mcu = mcu
self.drv = drv
self.drv.set_pin_mode_analog_input(SONAR_1_ADC_PIN, 100, self.__sonar_callback)
self.drv.set_pin_mode_analog_input(SONAR_2_ADC_PIN, 100, self.__sonar_callback)
self.drv.set_pin_mode_analog_input(SONAR_3_ADC_PIN, 100, self.__sonar_callback)
self.mcu.set_pin_mode_dht(DHT22_PIN, self.__dht22_callback)
self.drv.set_pin_mode_analog_input(LIGHT_SENSOR_PIN, 0, self.__light_sensor_callback)
self.mcu.set_pin_mode_analog_input(SONAR_ADC_PIN, 100, self.__sonar_callback)
self.mcu.set_pin_mode_dht(DHT22_PIN, self.__dht22_callback)
self.mcu.set_pin_mode_analog_input(LIGHT_SENSOR_PIN, 0, self.__light_sensor_callback)
def sonar_get_distance(self, id: int) -> float:
return self.__sonar_distances[id]
def sonar_get_distance(self) -> float:
return self.__sonar_distances
def __sonar_callback(self, data):
pin = data[1]
distance = data[2]
sonar_id = self.__sonar_adc_pins.index(pin)
self.__sonar_distances[sonar_id] = distance
self.__sonar_distances = distance
def get_brightness_pct(self) -> float:
return self.__brightness