@tigerpython/robotics-libraries 1.4.0

package/calliope/min/callibotmot.py

@@ -0,0 +1,23 @@
+import gc
+from calliope_mini import i2c,sleep
+import machine
+class Motor:
+	def __init__(A,id):A._id=id
+	def _f2(B,d,s):
+		if B._id==0:A=0
+		else:A=2
+		try:i2c.write(32,bytearray([A,d,s]))
+		except:
+			print('Please switch on mbRobot!')
+			while True:0
+	def rotate(B,s):
+		A=abs(s);A=A+50
+		if s>0:B._f2(0,A)
+		elif s<0:B._f2(1,A)
+		else:B._f2(0,0)
+delay=sleep
+def setLED(on):
+	if on==1:i2c.write(33,bytearray([0,3]))
+	else:i2c.write(33,bytearray([0,0]))
+motL=Motor(0)
+motR=Motor(2)

package/calliope/min/callimk.py

@@ -0,0 +1,47 @@
+import gc
+from calliope_mini import i2c,sleep
+i2c.init()
+_g1=30
+_g2=.09
+def w(d1,d2,s1,s2):i2c.write(16,bytearray([0,d1,s1]));i2c.write(16,bytearray([2,d2,s2]))
+def forward():w(0,0,_g1,_g1)
+def backward():w(1,1,_g1,_g1)
+def stop():w(0,0,0,0)
+def right():w(0 if _g1>0 else 1,1 if _g1>0 else 0,_g1,_g1)
+def left():w(1 if _g1>0 else 0,0 if _g1>0 else 1,_g1,_g1)
+def rightArc(r):
+	A=abs(_g1)
+	if r<_g2:B=0
+	else:C=(r-_g2)/(r+_g2)*(1-A*A/200000);B=int(C*A)
+	if _g1>0:w(0,0,A,B)
+	else:w(1,1,B,A)
+def leftArc(r):
+	A=abs(_g1)
+	if r<_g2:B=0
+	else:C=(r-_g2)/(r+_g2)*(1-A*A/200000);B=int(C*A)
+	if _g1>0:w(0,0,B,A)
+	else:w(1,1,A,B)
+def setSpeed(speed):
+	A=speed;global _g1
+	if A<15:_g1=15
+	else:_g1=A
+def motorL(dir,speed):i2c.write(16,bytearray([0,dir,speed]))
+def motorR(dir,speed):i2c.write(16,bytearray([2,dir,speed]))
+def led(right_left,on_off):
+	A=bytearray(2)
+	if right_left==0:A[0]=11
+	else:A[0]=12
+	A[1]=on_off;i2c.write(16,A)
+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):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)
+def getDistance():i2c.write(16,bytearray([40]));sleep(20);A=i2c.read(16,2);B=A[0]<<8|A[1];return B
+def irLeftValue():i2c.write(16,bytearray([29]));A=i2c.read(16,1)[0];return 0 if A&1!=0 else 1
+def irRightValue():i2c.write(16,bytearray([29]));A=i2c.read(16,1)[0];return 0 if A&2!=0 else 1
+def setServo(S,Angle):
+	if S=='S1':A=20
+	if S=='S2':A=21
+	i2c.write(16,bytearray([A,Angle]))
+exit=stop
+delay=sleep

package/calliope/min/cbalarm.py

@@ -0,0 +1,6 @@
+import music
+_g1=['c6:1','r','c6,1','r','r','r']
+def setAlarm(on):
+	if on:music.play(_g1,wait=False,loop=True)
+	else:music.stop()
+def beep():music.pitch(2000,200,wait=False)

package/calliope/min/cpglow.py

@@ -0,0 +1,29 @@
+from calliope_mini import*
+_g1=0
+_g2=0
+_g3=0
+_g4=50
+_g5=True
+_g6=False
+def makeGlow():global _g6;display.set_pixel(2,2,9);_g6=True
+def clear():display.clear()
+def forward():_f1(1)
+def back():_f1(-1)
+def right(angle):global _g3;_g3=(_g3+angle)%360
+def left(angle):right(-angle)
+def setPos(x,y):global _g1,_g2;_g1=x;_g2=y;_f2()
+def getPos():return _g1,_g2
+def setSpeed(speed):global _g4;_g4=speed
+def showTrace(enable):global _g5;_g5=enable
+def isLit():return display.get_pixel(_g1+2,4-(_g2+2))==9
+def _f1(s):
+	global _g1,_g2;sleep(2000-_g4*20);d=_g3//45
+	if d in[1,2,3]:_g1+=s
+	if d in[5,6,7]:_g1-=s
+	if d in[0,1,7]:_g2+=s
+	if d in[3,4,5]:_g2-=s
+	_f2()
+def _f2():
+	if not _g6:print('Use "makeGlow()" to create a Glow.');raise Exception('Glow not initialized.')
+	if not _g5:display.clear()
+	if-2<=_g1<=2 and-2<=_g2<=2:display.set_pixel(_g1+2,4-(_g2+2),9)

package/calliope/min/cpmike.py

@@ -0,0 +1,8 @@
+from calliope_mini import pin3,running_time,sleep
+_g1=running_time()
+def isClicked(level=10,rearm_time=500):
+	A=False;global _g1
+	if running_time()-_g1<rearm_time:sleep(10);return A
+	B=pin3.read_analog()
+	if B<518-level:_g1=running_time();return True
+	return A

package/calliope/min/cprover.py

@@ -0,0 +1,9 @@
+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/min/cputils.py

@@ -0,0 +1,7 @@
+def cat(filename):
+	with open(filename)as B:
+		A=B.readline()
+		while A:print(A[:-1]);A=B.readline()
+from math import asin,atan2,sqrt,degrees
+def getPitch(a):A=atan2(a[1],a[2]);return int(degrees(A))
+def 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))