@tigerpython/robotics-libraries 1.4.0

package/calliope/callibot.py

@@ -0,0 +1,176 @@
+# callibot.py
+# Version 1.3, 17-Sept-2021 /JA
+# new: Touchsensors
+
+import gc
+from calliope_mini import i2c, sleep
+
+_axe = 0.06
+
+def w(d1, d2, s1, s2):
+    try:
+        i2c.write(0x20, bytearray([0x00, d1, s1]))
+        i2c.write(0x20, bytearray([0x02, d2, s2]))
+    except:
+        print("Please switch on Robot!")
+        while True:
+            pass
+            
+def setSpeed(speed):
+    global _v
+    _v = speed + 40
+    #_v = int(speed * 1.1) + 35     
+
+def forward():
+    w(0, 0, _v, _v)
+
+def backward():
+    w(1, 1, _v, _v)
+    
+def stop():
+    w(0, 0, 0, 0)
+        
+def right():
+    v = int(_v * 1.1)
+    w(0 if _v > 0 else 1, 1 if _v > 0 else 0, v , v)   
+
+def left():
+    v = int(_v * 1.1)  
+    w(1 if _v > 0 else 0, 0 if _v > 0 else 1, v, v)
+
+def rightArc(r):  
+    v = abs(_v) 
+    if r < _axe:
+        v1 = 0
+    else:            
+        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)             
+        v1 = int(f * v)
+    if _v > 0:
+        w(0, 0, v, v1)
+    else:
+        w(1, 1, v1, v)
+
+def leftArc(r):  
+    v = abs(_v) 
+    if r < _axe:
+        v1 = 0
+    else:
+        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)             
+        v1 = int(f * v)
+    if _v > 0:
+        w(0, 0, v1, v)
+    else:
+        w(1, 1, v, v1)
+
+def setLEDLeft(on):
+    try:
+        i2c.write(0x21, bytearray([0,0])) 
+    except:
+        print("Please switch on Robot!")
+        while True:
+            pass         
+    if on == 1:
+        i2c.write(0x21, bytearray([0,0x01])) 
+    else:
+        i2c.write(0x21, bytearray([0,0]))   
+    
+def setLEDRight(on):
+    try:
+        i2c.write(0x21, bytearray([0,0])) 
+    except:
+        print("Please switch on Robot!")
+        while True:
+            pass 
+    if on == 1:
+        i2c.write(0x21, bytearray([0,0x02])) 
+    else:
+        i2c.write(0x21, bytearray([0,0]))   
+
+def setLED(on):
+    try:
+        i2c.write(0x21, bytearray([0,0])) 
+    except:
+        print("Please switch on Robot!")
+        while True:
+            pass 
+    if on == 1:
+        i2c.write(0x21, bytearray([0,0x03])) 
+    else:
+        i2c.write(0x21, bytearray([0,0]))   
+     
+def irLeftValue():
+    try:
+        buffer = i2c.read(0x21,1)    
+        if (buffer[0] == 130 or buffer[0] == 131):
+            return 1
+        else:
+            return 0   
+    except:
+        print("Please switch on Robot!")
+        while True:
+            pass 
+
+def irRightValue():
+    try:
+        buffer = i2c.read(0x21,1)    
+        if (buffer[0] == 129 or buffer[0] == 131):
+            return 1
+        else:
+            return 0   
+    except:
+        print("Please switch on Robot!")
+        while True:
+            pass 
+                                
+def getDistance():
+    try:
+        buffer = i2c.read(0x21,3)
+        dist = (256 * buffer[1] + buffer[2])/10
+        return dist
+    except:
+        print("Please switch on Robot!")
+        while True:
+            pass  
+      
+def tsValue():
+    try:
+        buffer = i2c.read(0x21,1)          
+        if (buffer[0] == 0x8C or buffer[0] == 0x8F):
+            return 1
+        else:
+            return 0  
+    except:
+        print("Please switch on Robot!")
+        while True:
+            pass    
+
+def tsLeftValue():
+    try:
+        buffer = i2c.read(0x21,1)          
+        if (buffer[0] == 0x88 or buffer[0] == 0x8B):
+            return 1
+        else:
+            return 0  
+    except:
+        print("Please switch on Robot!")
+        while True:
+            pass 
+        
+def tsRightValue():
+    try:
+        buffer = i2c.read(0x21,1)          
+        if (buffer[0] == 0x84 or buffer[0] == 0x87):
+            return 1
+        else:
+            return 0  
+    except:
+        print("Please switch on Robot!")
+        while True:
+            pass                         
+                        
+exit = stop
+delay = sleep
+_v = 90 # entspricht default Speed 50
+
+
+

package/calliope/callibotmot.py

@@ -0,0 +1,46 @@
+# callibotmot.py
+# Version 1.0, Apr 24, 2021 / AR
+
+import gc
+from calliope_mini import i2c, sleep
+import machine
+
+class Motor:
+    def __init__(self, id):
+        self._id = id
+
+    def _w(self, d, s):
+        if self._id == 0:
+            _self = 0x00
+        else:
+            _self = 0x02    
+        try:           
+            i2c.write(0x20, bytearray([_self, d, s]))
+        except:
+            print("Please switch on mbRobot!")
+            while True:
+                pass
+    
+    def rotate(self, s):
+        v = abs(s)
+        v = v + 50 
+        if s > 0:           
+            self._w(0, v)    
+        elif s < 0:           
+            self._w(1, v) 
+        else:   
+            self._w(0, 0)    
+
+ 
+delay = sleep
+def setLED(on):
+    if on == 1:
+        i2c.write(0x21, bytearray([0,0x03])) 
+    else:
+        i2c.write(0x21, bytearray([0,0]))   
+
+motL = Motor(0)
+motR = Motor(2)
+
+
+

package/calliope/callimk.py

@@ -0,0 +1,143 @@
+# callimk.py (motionkit2)
+import gc
+from calliope_mini import i2c, sleep
+i2c.init()
+_v = 30
+_axe = 0.09
+
+
+def w(d1, d2, s1, s2):
+    i2c.write(0x10, bytearray([0x00, d1, s1]))
+    i2c.write(0x10, bytearray([0x02, d2, s2]))
+
+
+def forward():
+    w(0, 0, _v, _v)
+
+
+def backward():
+    w(1, 1, _v, _v)
+
+
+def stop():
+    w(0, 0, 0, 0)
+
+
+def right():
+    w(0 if _v > 0 else 1, 1 if _v > 0 else 0, _v, _v)
+
+
+def left():
+    w(1 if _v > 0 else 0, 0 if _v > 0 else 1, _v, _v)
+
+
+def rightArc(r):
+    v = abs(_v)
+    if r < _axe:
+        v1 = 0
+    else:
+        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)
+        v1 = int(f * v)
+    if _v > 0:
+        w(0, 0, v, v1)
+    else:
+        w(1, 1, v1, v)
+
+
+def leftArc(r):
+    v = abs(_v)
+    if r < _axe:
+        v1 = 0
+    else:
+        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)
+        v1 = int(f * v)
+    if _v > 0:
+        w(0, 0, v1, v)
+    else:
+        w(1, 1, v, v1)
+
+
+def setSpeed(speed):
+    global _v
+    if speed < 15:
+        _v = 15
+    else:
+        _v = speed
+
+
+def motorL(dir, speed):
+    i2c.write(0x10, bytearray([0x00, dir, speed]))
+
+
+def motorR(dir, speed):
+    i2c.write(0x10, bytearray([0x02, dir, speed]))
+
+
+def led(right_left, on_off):
+    buf_led = bytearray(2)
+    if right_left == 0:
+        buf_led[0] = 0x0B
+    else:
+        buf_led[0] = 0x0C
+    buf_led[1] = on_off
+    i2c.write(0x10, buf_led)
+
+
+def setLEDLeft(on):
+    led(1, on)
+
+
+def setLEDRight(on):
+    led(0, on)
+
+
+def setLED(on):
+    led(1, on)
+    led(0, on)
+
+
+def rgbLED(red, green, blue):
+    buf_rgbLed_red = bytearray(2)
+    buf_rgbLed_red[0] = 0x18
+    buf_rgbLed_red[1] = red
+    buf_rgbLed_green = bytearray(2)
+    buf_rgbLed_green[0] = 0x19
+    buf_rgbLed_green[1] = green
+    buf_rgbLed_blue = bytearray(2)
+    buf_rgbLed_blue[0] = 0x1A
+    buf_rgbLed_blue[1] = blue
+    i2c.write(0x10, buf_rgbLed_red)
+    i2c.write(0x10, buf_rgbLed_green)
+    i2c.write(0x10, buf_rgbLed_blue)
+
+
+def getDistance():
+    i2c.write(0x10, bytearray([0x28]))
+    sleep(20)
+    data = i2c.read(0x10, 2)
+    distance = (data[0] << 8) | data[1]
+    return distance
+
+
+def irLeftValue():
+    i2c.write(0x10, bytearray([0x1D]))
+    data = i2c.read(0x10, 1)[0]
+    return 0 if (data & 0x01) != 0 else 1
+
+
+def irRightValue():
+    i2c.write(0x10, bytearray([0x1D]))
+    data = i2c.read(0x10, 1)[0]
+    return 0 if (data & 0x02) != 0 else 1
+
+
+def setServo(S, Angle):
+    if S == "S1":
+        Servo = 0x14
+    if S == "S2":
+        Servo = 0x15
+    i2c.write(0x10, bytearray([Servo, Angle]))
+
+
+exit = stop
+delay = sleep

package/calliope/cbalarm.py

@@ -0,0 +1,14 @@
+# cbalarm.py
+import music
+
+_m = ['c6:1', 'r', 'c6,1', 'r', 'r', 'r']
+
+def setAlarm(on):
+    if on:
+        music.play(_m, wait = False, loop = True)    
+    else:
+        music.stop()
+        
+        
+def beep():
+    music.pitch(2000, 200, wait = False)

package/calliope/cpglow.py

@@ -0,0 +1,76 @@
+# cpglow.py
+# Version 1.0, Dec. 5, 2018
+
+from calliope_mini import *
+
+_x = 0
+_y = 0
+_dir = 0
+_speed = 50
+_trace = True
+_visible = False
+
+def makeGlow():
+   global _visible
+   display.set_pixel(2, 2, 9)
+   _visible = True
+
+def clear():
+    display.clear()
+    
+def forward():    
+    _forward(1)
+
+def back():    
+    _forward(-1)
+    
+def right(angle):
+    global _dir
+    _dir = (_dir + angle) % 360
+
+def left(angle):
+    right(-angle)
+
+def setPos(x, y):
+    global _x, _y
+    _x = x
+    _y = y
+    _render()
+
+def getPos():
+    return _x, _y
+
+def setSpeed(speed):
+    global _speed
+    _speed = speed
+    
+def showTrace(enable):
+    global _trace
+    _trace = enable    
+
+def isLit():
+    return (display.get_pixel(_x + 2, 4 - (_y + 2)) == 9)
+   
+def _forward(s):
+    global _x, _y
+    sleep(2000 - _speed * 20)
+    d = _dir // 45
+    if d in [1, 2, 3]:    
+        _x += s
+    if d in [5, 6, 7]:    
+        _x -= s
+    if d in [0, 1, 7]:    
+        _y += s
+    if d in [3, 4, 5]:    
+        _y -= s
+    _render()
+
+def _render():
+    if not _visible:
+       print("Use \"makeGlow()\" to create a Glow.")
+       raise Exception("Glow not initialized.")
+    if not _trace:
+        display.clear()
+    if -2 <= _x <= 2 and -2 <= _y <= 2:    
+        display.set_pixel(_x + 2, 4 - (_y + 2), 9)
+

package/calliope/cpmike.py

@@ -0,0 +1,16 @@
+# cpmike.py
+
+from calliope_mini import pin3, running_time, sleep
+
+_click_time = running_time()
+
+def isClicked(level = 10, rearm_time = 500):
+    global _click_time
+    if running_time() - _click_time < rearm_time:
+        sleep(10)
+        return False
+    v = pin3.read_analog()
+    if v < 518 - level:
+        _click_time = running_time()
+        return True
+    return False

package/calliope/cprover.py

@@ -0,0 +1,33 @@
+# cprover.py
+                                             
+from calliope_mini import pin28, pin29, pin30
+
+def forward():
+    pin28.write_analog(v)
+    pin29.write_digital(1)
+    pin30.write_digital(1)
+
+def left():
+    pin28.write_analog(v)
+    pin29.write_digital(0)
+    pin30.write_digital(1)
+
+def right():
+    pin28.write_analog(v)
+    pin29.write_digital(1)
+    pin30.write_digital(0)
+
+def stop():
+    pin28.write_digital(0)
+
+def move():
+    left()
+
+def rewind():    
+    right()
+
+def setSpeed(speed):
+    global v
+    v = int(speed / 100 * 1023)
+
+setSpeed(100)

package/calliope/cputils.py

@@ -0,0 +1,23 @@
+# cputils.py
+# V1.1, Dec 5, 2018
+# Additional classes / global functions for Calliope
+
+
+def cat(filename):
+    with open(filename) as f:
+        line = f.readline()
+        while line:
+            print(line[:-1])
+            line = f.readline()
+
+
+from math import asin, atan2, sqrt, degrees
+
+def getPitch(a):
+    pitch = atan2(a[1], a[2])
+    return int(degrees(pitch))
+
+def getRoll(a):
+    anorm = sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2])
+    roll = asin(a[0] / anorm)
+    return int(degrees(roll))

package/calliope/libraries.json

@@ -0,0 +1,10 @@
+{
+    "cbalarm": "import music\n_g1=['c6:1','r','c6,1','r','r','r']\ndef setAlarm(on):\n\tif on:music.play(_g1,wait=False,loop=True)\n\telse:music.stop()\ndef beep():music.pitch(2000,200,wait=False)",
+    "cprover": "from calliope_mini import pin28,pin29,pin30\ndef forward():pin28.write_analog(v);pin29.write_digital(1);pin30.write_digital(1)\ndef left():pin28.write_analog(v);pin29.write_digital(0);pin30.write_digital(1)\ndef right():pin28.write_analog(v);pin29.write_digital(1);pin30.write_digital(0)\ndef stop():pin28.write_digital(0)\ndef move():left()\ndef rewind():right()\ndef setSpeed(speed):global v;v=int(speed/100*1023)\nsetSpeed(100)",
+    "callimk": "import gc\nfrom calliope_mini import i2c,sleep\ni2c.init()\n_g1=30\n_g2=.09\ndef w(d1,d2,s1,s2):i2c.write(16,bytearray([0,d1,s1]));i2c.write(16,bytearray([2,d2,s2]))\ndef forward():w(0,0,_g1,_g1)\ndef backward():w(1,1,_g1,_g1)\ndef stop():w(0,0,0,0)\ndef right():w(0 if _g1>0 else 1,1 if _g1>0 else 0,_g1,_g1)\ndef left():w(1 if _g1>0 else 0,0 if _g1>0 else 1,_g1,_g1)\ndef rightArc(r):\n\tA=abs(_g1)\n\tif r<_g2:B=0\n\telse:C=(r-_g2)/(r+_g2)*(1-A*A/200000);B=int(C*A)\n\tif _g1>0:w(0,0,A,B)\n\telse:w(1,1,B,A)\ndef leftArc(r):\n\tA=abs(_g1)\n\tif r<_g2:B=0\n\telse:C=(r-_g2)/(r+_g2)*(1-A*A/200000);B=int(C*A)\n\tif _g1>0:w(0,0,B,A)\n\telse:w(1,1,A,B)\ndef setSpeed(speed):\n\tA=speed;global _g1\n\tif A<15:_g1=15\n\telse:_g1=A\ndef motorL(dir,speed):i2c.write(16,bytearray([0,dir,speed]))\ndef motorR(dir,speed):i2c.write(16,bytearray([2,dir,speed]))\ndef led(right_left,on_off):\n\tA=bytearray(2)\n\tif right_left==0:A[0]=11\n\telse:A[0]=12\n\tA[1]=on_off;i2c.write(16,A)\ndef setLEDLeft(on):led(1,on)\ndef setLEDRight(on):led(0,on)\ndef setLED(on):led(1,on);led(0,on)\ndef rgbLED(red,green,blue):A=bytearray(2);A[0]=24;A[1]=red;B=bytearray(2);B[0]=25;B[1]=green;C=bytearray(2);C[0]=26;C[1]=blue;i2c.write(16,A);i2c.write(16,B);i2c.write(16,C)\ndef getDistance():i2c.write(16,bytearray([40]));sleep(20);A=i2c.read(16,2);B=A[0]<<8|A[1];return B\ndef irLeftValue():i2c.write(16,bytearray([29]));A=i2c.read(16,1)[0];return 0 if A&1!=0 else 1\ndef irRightValue():i2c.write(16,bytearray([29]));A=i2c.read(16,1)[0];return 0 if A&2!=0 else 1\ndef setServo(S,Angle):\n\tif S=='S1':A=20\n\tif S=='S2':A=21\n\ti2c.write(16,bytearray([A,Angle]))\nexit=stop\ndelay=sleep",
+    "cpglow": "from calliope_mini import*\n_g1=0\n_g2=0\n_g3=0\n_g4=50\n_g5=True\n_g6=False\ndef makeGlow():global _g6;display.set_pixel(2,2,9);_g6=True\ndef clear():display.clear()\ndef forward():_f1(1)\ndef back():_f1(-1)\ndef right(angle):global _g3;_g3=(_g3+angle)%360\ndef left(angle):right(-angle)\ndef setPos(x,y):global _g1,_g2;_g1=x;_g2=y;_f2()\ndef getPos():return _g1,_g2\ndef setSpeed(speed):global _g4;_g4=speed\ndef showTrace(enable):global _g5;_g5=enable\ndef isLit():return display.get_pixel(_g1+2,4-(_g2+2))==9\ndef _f1(s):\n\tglobal _g1,_g2;sleep(2000-_g4*20);d=_g3//45\n\tif d in[1,2,3]:_g1+=s\n\tif d in[5,6,7]:_g1-=s\n\tif d in[0,1,7]:_g2+=s\n\tif d in[3,4,5]:_g2-=s\n\t_f2()\ndef _f2():\n\tif not _g6:print('Use \"makeGlow()\" to create a Glow.');raise Exception('Glow not initialized.')\n\tif not _g5:display.clear()\n\tif-2<=_g1<=2 and-2<=_g2<=2:display.set_pixel(_g1+2,4-(_g2+2),9)",
+    "callibotmot": "import gc\nfrom calliope_mini import i2c,sleep\nimport machine\nclass Motor:\n\tdef __init__(A,id):A._id=id\n\tdef _f2(B,d,s):\n\t\tif B._id==0:A=0\n\t\telse:A=2\n\t\ttry:i2c.write(32,bytearray([A,d,s]))\n\t\texcept:\n\t\t\tprint('Please switch on mbRobot!')\n\t\t\twhile True:0\n\tdef rotate(B,s):\n\t\tA=abs(s);A=A+50\n\t\tif s>0:B._f2(0,A)\n\t\telif s<0:B._f2(1,A)\n\t\telse:B._f2(0,0)\ndelay=sleep\ndef setLED(on):\n\tif on==1:i2c.write(33,bytearray([0,3]))\n\telse:i2c.write(33,bytearray([0,0]))\nmotL=Motor(0)\nmotR=Motor(2)",
+    "callibot": "_B=True\n_A='Please switch on Robot!'\nimport gc\nfrom calliope_mini import i2c,sleep\n_g1=.06\ndef w(d1,d2,s1,s2):\n\ttry:i2c.write(32,bytearray([0,d1,s1]));i2c.write(32,bytearray([2,d2,s2]))\n\texcept:\n\t\tprint(_A)\n\t\twhile _B:0\ndef setSpeed(speed):global _g2;_g2=speed+40\ndef forward():w(0,0,_g2,_g2)\ndef backward():w(1,1,_g2,_g2)\ndef stop():w(0,0,0,0)\ndef right():A=int(_g2*1.1);w(0 if _g2>0 else 1,1 if _g2>0 else 0,A,A)\ndef left():A=int(_g2*1.1);w(1 if _g2>0 else 0,0 if _g2>0 else 1,A,A)\ndef rightArc(r):\n\tA=abs(_g2)\n\tif r<_g1:B=0\n\telse:C=(r-_g1)/(r+_g1)*(1-A*A/200000);B=int(C*A)\n\tif _g2>0:w(0,0,A,B)\n\telse:w(1,1,B,A)\ndef leftArc(r):\n\tA=abs(_g2)\n\tif r<_g1:B=0\n\telse:C=(r-_g1)/(r+_g1)*(1-A*A/200000);B=int(C*A)\n\tif _g2>0:w(0,0,B,A)\n\telse:w(1,1,A,B)\ndef setLEDLeft(on):\n\ttry:i2c.write(33,bytearray([0,0]))\n\texcept:\n\t\tprint(_A)\n\t\twhile _B:0\n\tif on==1:i2c.write(33,bytearray([0,1]))\n\telse:i2c.write(33,bytearray([0,0]))\ndef setLEDRight(on):\n\ttry:i2c.write(33,bytearray([0,0]))\n\texcept:\n\t\tprint(_A)\n\t\twhile _B:0\n\tif on==1:i2c.write(33,bytearray([0,2]))\n\telse:i2c.write(33,bytearray([0,0]))\ndef setLED(on):\n\ttry:i2c.write(33,bytearray([0,0]))\n\texcept:\n\t\tprint(_A)\n\t\twhile _B:0\n\tif on==1:i2c.write(33,bytearray([0,3]))\n\telse:i2c.write(33,bytearray([0,0]))\ndef irLeftValue():\n\ttry:\n\t\tA=i2c.read(33,1)\n\t\tif A[0]==130 or A[0]==131:return 1\n\t\telse:return 0\n\texcept:\n\t\tprint(_A)\n\t\twhile _B:0\ndef irRightValue():\n\ttry:\n\t\tA=i2c.read(33,1)\n\t\tif A[0]==129 or A[0]==131:return 1\n\t\telse:return 0\n\texcept:\n\t\tprint(_A)\n\t\twhile _B:0\ndef getDistance():\n\ttry:A=i2c.read(33,3);B=(256*A[1]+A[2])/10;return B\n\texcept:\n\t\tprint(_A)\n\t\twhile _B:0\ndef tsValue():\n\ttry:\n\t\tA=i2c.read(33,1)\n\t\tif A[0]==140 or A[0]==143:return 1\n\t\telse:return 0\n\texcept:\n\t\tprint(_A)\n\t\twhile _B:0\ndef tsLeftValue():\n\ttry:\n\t\tA=i2c.read(33,1)\n\t\tif A[0]==136 or A[0]==139:return 1\n\t\telse:return 0\n\texcept:\n\t\tprint(_A)\n\t\twhile _B:0\ndef tsRightValue():\n\ttry:\n\t\tA=i2c.read(33,1)\n\t\tif A[0]==132 or A[0]==135:return 1\n\t\telse:return 0\n\texcept:\n\t\tprint(_A)\n\t\twhile _B:0\nexit=stop\ndelay=sleep\n_g2=90",
+    "cputils": "def cat(filename):\n\twith open(filename)as B:\n\t\tA=B.readline()\n\t\twhile A:print(A[:-1]);A=B.readline()\nfrom math import asin,atan2,sqrt,degrees\ndef getPitch(a):A=atan2(a[1],a[2]);return int(degrees(A))\ndef getRoll(a):A=sqrt(a[0]*a[0]+a[1]*a[1]+a[2]*a[2]);B=asin(a[0]/A);return int(degrees(B))",
+    "cpmike": "from calliope_mini import pin3,running_time,sleep\n_g1=running_time()\ndef isClicked(level=10,rearm_time=500):\n\tA=False;global _g1\n\tif running_time()-_g1<rearm_time:sleep(10);return A\n\tB=pin3.read_analog()\n\tif B<518-level:_g1=running_time();return True\n\treturn A"
+}

package/calliope/libraries.raw.json

@@ -0,0 +1,10 @@
+{
+    "cbalarm": "# cbalarm.py\nimport music\n\n_m = ['c6:1', 'r', 'c6,1', 'r', 'r', 'r']\n\ndef setAlarm(on):\n    if on:\n        music.play(_m, wait = False, loop = True)    \n    else:\n        music.stop()\n        \n        \ndef beep():\n    music.pitch(2000, 200, wait = False)",
+    "cprover": "# cprover.py\n                                             \nfrom calliope_mini import pin28, pin29, pin30\n\ndef forward():\n    pin28.write_analog(v)\n    pin29.write_digital(1)\n    pin30.write_digital(1)\n\ndef left():\n    pin28.write_analog(v)\n    pin29.write_digital(0)\n    pin30.write_digital(1)\n\ndef right():\n    pin28.write_analog(v)\n    pin29.write_digital(1)\n    pin30.write_digital(0)\n\ndef stop():\n    pin28.write_digital(0)\n\ndef move():\n    left()\n\ndef rewind():    \n    right()\n\ndef setSpeed(speed):\n    global v\n    v = int(speed / 100 * 1023)\n\nsetSpeed(100)\n",
+    "callimk": "# callimk.py (motionkit2)\nimport gc\nfrom calliope_mini import i2c, sleep\ni2c.init()\n_v = 30\n_axe = 0.09\n\n\ndef w(d1, d2, s1, s2):\n    i2c.write(0x10, bytearray([0x00, d1, s1]))\n    i2c.write(0x10, bytearray([0x02, d2, s2]))\n\n\ndef forward():\n    w(0, 0, _v, _v)\n\n\ndef backward():\n    w(1, 1, _v, _v)\n\n\ndef stop():\n    w(0, 0, 0, 0)\n\n\ndef right():\n    w(0 if _v > 0 else 1, 1 if _v > 0 else 0, _v, _v)\n\n\ndef left():\n    w(1 if _v > 0 else 0, 0 if _v > 0 else 1, _v, _v)\n\n\ndef rightArc(r):\n    v = abs(_v)\n    if r < _axe:\n        v1 = 0\n    else:\n        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)\n        v1 = int(f * v)\n    if _v > 0:\n        w(0, 0, v, v1)\n    else:\n        w(1, 1, v1, v)\n\n\ndef leftArc(r):\n    v = abs(_v)\n    if r < _axe:\n        v1 = 0\n    else:\n        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)\n        v1 = int(f * v)\n    if _v > 0:\n        w(0, 0, v1, v)\n    else:\n        w(1, 1, v, v1)\n\n\ndef setSpeed(speed):\n    global _v\n    if speed < 15:\n        _v = 15\n    else:\n        _v = speed\n\n\ndef motorL(dir, speed):\n    i2c.write(0x10, bytearray([0x00, dir, speed]))\n\n\ndef motorR(dir, speed):\n    i2c.write(0x10, bytearray([0x02, dir, speed]))\n\n\ndef led(right_left, on_off):\n    buf_led = bytearray(2)\n    if right_left == 0:\n        buf_led[0] = 0x0B\n    else:\n        buf_led[0] = 0x0C\n    buf_led[1] = on_off\n    i2c.write(0x10, buf_led)\n\n\ndef setLEDLeft(on):\n    led(1, on)\n\n\ndef setLEDRight(on):\n    led(0, on)\n\n\ndef setLED(on):\n    led(1, on)\n    led(0, on)\n\n\ndef rgbLED(red, green, blue):\n    buf_rgbLed_red = bytearray(2)\n    buf_rgbLed_red[0] = 0x18\n    buf_rgbLed_red[1] = red\n    buf_rgbLed_green = bytearray(2)\n    buf_rgbLed_green[0] = 0x19\n    buf_rgbLed_green[1] = green\n    buf_rgbLed_blue = bytearray(2)\n    buf_rgbLed_blue[0] = 0x1A\n    buf_rgbLed_blue[1] = blue\n    i2c.write(0x10, buf_rgbLed_red)\n    i2c.write(0x10, buf_rgbLed_green)\n    i2c.write(0x10, buf_rgbLed_blue)\n\n\ndef getDistance():\n    i2c.write(0x10, bytearray([0x28]))\n    sleep(20)\n    data = i2c.read(0x10, 2)\n    distance = (data[0] << 8) | data[1]\n    return distance\n\n\ndef irLeftValue():\n    i2c.write(0x10, bytearray([0x1D]))\n    data = i2c.read(0x10, 1)[0]\n    return 0 if (data & 0x01) != 0 else 1\n\n\ndef irRightValue():\n    i2c.write(0x10, bytearray([0x1D]))\n    data = i2c.read(0x10, 1)[0]\n    return 0 if (data & 0x02) != 0 else 1\n\n\ndef setServo(S, Angle):\n    if S == \"S1\":\n        Servo = 0x14\n    if S == \"S2\":\n        Servo = 0x15\n    i2c.write(0x10, bytearray([Servo, Angle]))\n\n\nexit = stop\ndelay = sleep\n",
+    "cpglow": "# cpglow.py\n# Version 1.0, Dec. 5, 2018\n\nfrom calliope_mini import *\n\n_x = 0\n_y = 0\n_dir = 0\n_speed = 50\n_trace = True\n_visible = False\n\ndef makeGlow():\n   global _visible\n   display.set_pixel(2, 2, 9)\n   _visible = True\n\ndef clear():\n    display.clear()\n    \ndef forward():    \n    _forward(1)\n\ndef back():    \n    _forward(-1)\n    \ndef right(angle):\n    global _dir\n    _dir = (_dir + angle) % 360\n\ndef left(angle):\n    right(-angle)\n\ndef setPos(x, y):\n    global _x, _y\n    _x = x\n    _y = y\n    _render()\n\ndef getPos():\n    return _x, _y\n\ndef setSpeed(speed):\n    global _speed\n    _speed = speed\n    \ndef showTrace(enable):\n    global _trace\n    _trace = enable    \n\ndef isLit():\n    return (display.get_pixel(_x + 2, 4 - (_y + 2)) == 9)\n   \ndef _forward(s):\n    global _x, _y\n    sleep(2000 - _speed * 20)\n    d = _dir // 45\n    if d in [1, 2, 3]:    \n        _x += s\n    if d in [5, 6, 7]:    \n        _x -= s\n    if d in [0, 1, 7]:    \n        _y += s\n    if d in [3, 4, 5]:    \n        _y -= s\n    _render()\n\ndef _render():\n    if not _visible:\n       print(\"Use \\\"makeGlow()\\\" to create a Glow.\")\n       raise Exception(\"Glow not initialized.\")\n    if not _trace:\n        display.clear()\n    if -2 <= _x <= 2 and -2 <= _y <= 2:    \n        display.set_pixel(_x + 2, 4 - (_y + 2), 9)\n\n",
+    "callibotmot": "# callibotmot.py\n# Version 1.0, Apr 24, 2021 / AR\n\nimport gc\nfrom calliope_mini import i2c, sleep\nimport machine\n\nclass Motor:\n    def __init__(self, id):\n        self._id = id\n\n    def _w(self, d, s):\n        if self._id == 0:\n            _self = 0x00\n        else:\n            _self = 0x02    \n        try:           \n            i2c.write(0x20, bytearray([_self, d, s]))\n        except:\n            print(\"Please switch on mbRobot!\")\n            while True:\n                pass\n    \n    def rotate(self, s):\n        v = abs(s)\n        v = v + 50 \n        if s > 0:           \n            self._w(0, v)    \n        elif s < 0:           \n            self._w(1, v) \n        else:   \n            self._w(0, 0)    \n\n \ndelay = sleep\ndef setLED(on):\n    if on == 1:\n        i2c.write(0x21, bytearray([0,0x03])) \n    else:\n        i2c.write(0x21, bytearray([0,0]))   \n\nmotL = Motor(0)\nmotR = Motor(2)\n\n\n\n",
+    "callibot": "# callibot.py\n# Version 1.3, 17-Sept-2021 /JA\n# new: Touchsensors\n\nimport gc\nfrom calliope_mini import i2c, sleep\n\n_axe = 0.06\n\ndef w(d1, d2, s1, s2):\n    try:\n        i2c.write(0x20, bytearray([0x00, d1, s1]))\n        i2c.write(0x20, bytearray([0x02, d2, s2]))\n    except:\n        print(\"Please switch on Robot!\")\n        while True:\n            pass\n            \ndef setSpeed(speed):\n    global _v\n    _v = speed + 40\n    #_v = int(speed * 1.1) + 35     \n\ndef forward():\n    w(0, 0, _v, _v)\n\ndef backward():\n    w(1, 1, _v, _v)\n    \ndef stop():\n    w(0, 0, 0, 0)\n        \ndef right():\n    v = int(_v * 1.1)\n    w(0 if _v > 0 else 1, 1 if _v > 0 else 0, v , v)   \n\ndef left():\n    v = int(_v * 1.1)  \n    w(1 if _v > 0 else 0, 0 if _v > 0 else 1, v, v)\n\ndef rightArc(r):  \n    v = abs(_v) \n    if r < _axe:\n        v1 = 0\n    else:            \n        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)             \n        v1 = int(f * v)\n    if _v > 0:\n        w(0, 0, v, v1)\n    else:\n        w(1, 1, v1, v)\n\ndef leftArc(r):  \n    v = abs(_v) \n    if r < _axe:\n        v1 = 0\n    else:\n        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)             \n        v1 = int(f * v)\n    if _v > 0:\n        w(0, 0, v1, v)\n    else:\n        w(1, 1, v, v1)\n\ndef setLEDLeft(on):\n    try:\n        i2c.write(0x21, bytearray([0,0])) \n    except:\n        print(\"Please switch on Robot!\")\n        while True:\n            pass         \n    if on == 1:\n        i2c.write(0x21, bytearray([0,0x01])) \n    else:\n        i2c.write(0x21, bytearray([0,0]))   \n    \ndef setLEDRight(on):\n    try:\n        i2c.write(0x21, bytearray([0,0])) \n    except:\n        print(\"Please switch on Robot!\")\n        while True:\n            pass \n    if on == 1:\n        i2c.write(0x21, bytearray([0,0x02])) \n    else:\n        i2c.write(0x21, bytearray([0,0]))   \n\ndef setLED(on):\n    try:\n        i2c.write(0x21, bytearray([0,0])) \n    except:\n        print(\"Please switch on Robot!\")\n        while True:\n            pass \n    if on == 1:\n        i2c.write(0x21, bytearray([0,0x03])) \n    else:\n        i2c.write(0x21, bytearray([0,0]))   \n     \ndef irLeftValue():\n    try:\n        buffer = i2c.read(0x21,1)    \n        if (buffer[0] == 130 or buffer[0] == 131):\n            return 1\n        else:\n            return 0   \n    except:\n        print(\"Please switch on Robot!\")\n        while True:\n            pass \n\ndef irRightValue():\n    try:\n        buffer = i2c.read(0x21,1)    \n        if (buffer[0] == 129 or buffer[0] == 131):\n            return 1\n        else:\n            return 0   \n    except:\n        print(\"Please switch on Robot!\")\n        while True:\n            pass \n                                \ndef getDistance():\n    try:\n        buffer = i2c.read(0x21,3)\n        dist = (256 * buffer[1] + buffer[2])/10\n        return dist\n    except:\n        print(\"Please switch on Robot!\")\n        while True:\n            pass  \n      \ndef tsValue():\n    try:\n        buffer = i2c.read(0x21,1)          \n        if (buffer[0] == 0x8C or buffer[0] == 0x8F):\n            return 1\n        else:\n            return 0  \n    except:\n        print(\"Please switch on Robot!\")\n        while True:\n            pass    \n\ndef tsLeftValue():\n    try:\n        buffer = i2c.read(0x21,1)          \n        if (buffer[0] == 0x88 or buffer[0] == 0x8B):\n            return 1\n        else:\n            return 0  \n    except:\n        print(\"Please switch on Robot!\")\n        while True:\n            pass \n        \ndef tsRightValue():\n    try:\n        buffer = i2c.read(0x21,1)          \n        if (buffer[0] == 0x84 or buffer[0] == 0x87):\n            return 1\n        else:\n            return 0  \n    except:\n        print(\"Please switch on Robot!\")\n        while True:\n            pass                         \n                        \nexit = stop\ndelay = sleep\n_v = 90 # entspricht default Speed 50\n\n\n\n",
+    "cputils": "# cputils.py\n# V1.1, Dec 5, 2018\n# Additional classes / global functions for Calliope\n\n\ndef cat(filename):\n    with open(filename) as f:\n        line = f.readline()\n        while line:\n            print(line[:-1])\n            line = f.readline()\n\n\nfrom math import asin, atan2, sqrt, degrees\n\ndef getPitch(a):\n    pitch = atan2(a[1], a[2])\n    return int(degrees(pitch))\n\ndef getRoll(a):\n    anorm = sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2])\n    roll = asin(a[0] / anorm)\n    return int(degrees(roll))",
+    "cpmike": "# cpmike.py\n\nfrom calliope_mini import pin3, running_time, sleep\n\n_click_time = running_time()\n\ndef isClicked(level = 10, rearm_time = 500):\n    global _click_time\n    if running_time() - _click_time < rearm_time:\n        sleep(10)\n        return False\n    v = pin3.read_analog()\n    if v < 518 - level:\n        _click_time = running_time()\n        return True\n    return False\n"
+}

package/calliope/min/callibot.py

@@ -0,0 +1,97 @@
+_B=True
+_A='Please switch on Robot!'
+import gc
+from calliope_mini import i2c,sleep
+_g1=.06
+def w(d1,d2,s1,s2):
+	try:i2c.write(32,bytearray([0,d1,s1]));i2c.write(32,bytearray([2,d2,s2]))
+	except:
+		print(_A)
+		while _B:0
+def setSpeed(speed):global _g2;_g2=speed+40
+def forward():w(0,0,_g2,_g2)
+def backward():w(1,1,_g2,_g2)
+def stop():w(0,0,0,0)
+def right():A=int(_g2*1.1);w(0 if _g2>0 else 1,1 if _g2>0 else 0,A,A)
+def left():A=int(_g2*1.1);w(1 if _g2>0 else 0,0 if _g2>0 else 1,A,A)
+def rightArc(r):
+	A=abs(_g2)
+	if r<_g1:B=0
+	else:C=(r-_g1)/(r+_g1)*(1-A*A/200000);B=int(C*A)
+	if _g2>0:w(0,0,A,B)
+	else:w(1,1,B,A)
+def leftArc(r):
+	A=abs(_g2)
+	if r<_g1:B=0
+	else:C=(r-_g1)/(r+_g1)*(1-A*A/200000);B=int(C*A)
+	if _g2>0:w(0,0,B,A)
+	else:w(1,1,A,B)
+def setLEDLeft(on):
+	try:i2c.write(33,bytearray([0,0]))
+	except:
+		print(_A)
+		while _B:0
+	if on==1:i2c.write(33,bytearray([0,1]))
+	else:i2c.write(33,bytearray([0,0]))
+def setLEDRight(on):
+	try:i2c.write(33,bytearray([0,0]))
+	except:
+		print(_A)
+		while _B:0
+	if on==1:i2c.write(33,bytearray([0,2]))
+	else:i2c.write(33,bytearray([0,0]))
+def setLED(on):
+	try:i2c.write(33,bytearray([0,0]))
+	except:
+		print(_A)
+		while _B:0
+	if on==1:i2c.write(33,bytearray([0,3]))
+	else:i2c.write(33,bytearray([0,0]))
+def irLeftValue():
+	try:
+		A=i2c.read(33,1)
+		if A[0]==130 or A[0]==131:return 1
+		else:return 0
+	except:
+		print(_A)
+		while _B:0
+def irRightValue():
+	try:
+		A=i2c.read(33,1)
+		if A[0]==129 or A[0]==131:return 1
+		else:return 0
+	except:
+		print(_A)
+		while _B:0
+def getDistance():
+	try:A=i2c.read(33,3);B=(256*A[1]+A[2])/10;return B
+	except:
+		print(_A)
+		while _B:0
+def tsValue():
+	try:
+		A=i2c.read(33,1)
+		if A[0]==140 or A[0]==143:return 1
+		else:return 0
+	except:
+		print(_A)
+		while _B:0
+def tsLeftValue():
+	try:
+		A=i2c.read(33,1)
+		if A[0]==136 or A[0]==139:return 1
+		else:return 0
+	except:
+		print(_A)
+		while _B:0
+def tsRightValue():
+	try:
+		A=i2c.read(33,1)
+		if A[0]==132 or A[0]==135:return 1
+		else:return 0
+	except:
+		print(_A)
+		while _B:0
+exit=stop
+delay=sleep
+_g2=90