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Trashbot.py
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from microbit import *
import ustruct
#GPIO Pins
O4 = 0
O5 = 1
IO6 = 2
IO7 = 3
IO8 = 4
IO9 = 5
#GPIO Values
ModeValue = 0
WriteValue = 0
PullupValue = 0
#GPIO Pin Config
OUTPUT = 0
INPUT = 1
INPUT_PULLUP = 2
class tbos:
def gyroReadReg(r):
buf1 = bytearray([0, 0])
buf1[0] = r
i2c.write(0x6B, buf1)
b = i2c.read(0x6B, 1)
return b[0]
def gyroReadReg16(r):
buf2 = bytearray([0, 0])
l = tbos.gyroReadReg(r)
h = tbos.gyroReadReg(r + 1)
buf2[0] = l
buf2[1] = h
t = ustruct.unpack_from('<h', buf2, 0)
return t[0]
def gyroWriteReg(r, v):
buf2 = bytearray([0, 0])
buf2[0] = r
buf2[1] = v
i2c.write(0x6B, buf2)
def gyroGetX():
return int(tbos.gyroReadReg16(0x28) / 114)
def gyroGetY():
return int(tbos.gyroReadReg16(0x2A) / 114)
def gyroGetZ():
return int(tbos.gyroReadReg16(0x2C) / 114)
def gyroInit():
# Initialize control registers
# on the L3GD20H
tbos.gyroWriteReg(0x20, 0x0F)
tbos.gyroWriteReg(0x21, 0x00)
tbos.gyroWriteReg(0x22, 0x00)
tbos.gyroWriteReg(0x23, 0x00)
tbos.gyroWriteReg(0x24, 0x00)
return tbos.gyroReadReg(0x0f)
def setMotorPower(m, p):
buf2 = bytearray([0, 0])
if m == 1:
buf2[0] = 10
elif m == 2:
buf2[0] = 20
else:
return # no such motor
if p > 100:
p = 100
if p < -100:
p = -100
buf2[1] = int(p)
pin16.write_digital(0)
spi.write(buf2)
pin16.write_digital(1)
return
def MotorBrake(m):
buf2 = bytearray([0, 0])
if m == 1:
buf2[0] = 12
elif m == 2:
buf2[0] = 22
else:
return # no such motor
buf2[1] = int(1)
pin16.write_digital(0)
spi.write(buf2)
pin16.write_digital(1)
return
def playNote(k):
buf2 = bytearray([0, 0])
#kRM_NoteSolfege
buf2[0] = 62
if k < 0:
k = 0
if k > 88:
k = 88
buf2[1] = int(k)
pin16.write_digital(0)
spi.write(buf2)
pin16.write_digital(1)
return
#Didn't seem to work
def playFrequency(k):
buf4 = bytearray([63, 116, 0, 0])
#kRM_NoteHertz
if k < 0:
k = 0
if k > 10000:
k = 10000
buf4[2] = (int(k) & 0x000000ff) #low bit first now
buf4[3] = (int(k) & 0x0000ff00) >> 8
pin16.write_digital(0)
spi.write(buf4)
pin16.write_digital(1)
return
def setNoteLength(k):
buf = bytearray([61,0])
buf[1] = int(k)
pin16.write_digital(0)
spi.write(buf)
pin16.write_digital(1)
return
##Encoder1 Register: 30
##Encoder2 Register: 31
def get8BitRegister(reg):
bufRegWr = bytearray([0, 0, 0])
bufRegRd = bytearray([0, 0, 0])
bufRegWr[0] = -reg
pin16.write_digital(0)
spi.write_readinto(bufRegWr, bufRegRd)
pin16.write_digital(1)
r = bufRegRd[2];
return r
def get16BitRegister(reg):
bufRegWr = bytearray([0, 116, 0, 0])
bufRegRd = bytearray([0, 0, 0, 0])
bufRegWr[0] = -reg
pin16.write_digital(0)
spi.write_readinto(bufRegWr, bufRegRd)
pin16.write_digital(1)
r = bufRegRd[2];
r += bufRegRd[3]<<8;
return r
def get32BitRegister(reg):
bufRegWr = bytearray([0, 117, 0, 0, 0, 0])
bufRegRd = bytearray([0, 0, 0, 0, 0, 0])
bufRegWr[0] = -reg
pin16.write_digital(0)
spi.write_readinto(bufRegWr, bufRegRd)
pin16.write_digital(1)
#r = bufRegRd[2];
#r += bufRegRd[3]<<8;
#r += bufRegRd[4]<<16;
#r += bufRegRd[5]<<24;
#return r
t = ustruct.unpack_from('<i', bufRegRd, 2)
return t[0]
def setServoPosition(ServoNum, pos):
buf = bytearray([50,116,0,0])
if ServoNum == 1:
buf[0] = 50
elif ServoNum == 2:
buf[0] = 51
elif ServoNum == 3:
buf[0] = 52
else:
return 0 #No such Servo
buf[2] = (int(pos) & 0x000000ff)
buf[3] = ((int(pos) & 0x0000ff00) >> 8)
pin16.write_digital(0)
spi.write(buf)
pin16.write_digital(1)
return
def pinMode(pin, mode):
global ModeValue
global PullupValue
buf = bytearray([73, 0])
buf1 = bytearray([74, 0])
#OUTPUT
if(mode == 0):
ModeValue |= int(bin(1 << pin),2)
#INPUT
elif mode == 1:
ModeValue &= int(bin(~(1 << pin)),2)
PullupValue &= int(bin(~(1 << pin)),2)
#INPUT_PULLUP
elif mode == 2:
ModeValue &= int(bin(~(1 << pin)),2)
PullupValue |= int(bin(1 << pin),2)
else:
return 0 #Invalid mode
buf[1] = ModeValue
buf1[1] = PullupValue
#Don't know if sending 2 buffers works
#like this or not
pin16.write_digital(0)
spi.write(buf)
spi.write(buf1)
pin16.write_digital(1)
return
def digitalWrite(pin, value):
global WriteValue
buf = bytearray([72, 0])
if value == 0:
WriteValue &= int(bin(~(1 << pin)), 2)
elif value == 1:
WriteValue |= int(bin((1 << pin)), 2)
else:
return 0 #Invalid value
buf[1] = WriteValue
pin16.write_digital(0)
spi.write(buf)
pin16.write_digital(1)
return
def digitalRead(pin):
byte = tbos.get8BitRegister(71)
bit = 1 & (byte >> pin)
return bit
############ Add your code here.##############
spi.init()
while True: