base

main.py

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+# Programme voiture autonome a completer
+import pyb, time
+from pyb import delay, Timer
+
+class HBridge:
+    """ Control à H-Bridge. Also support PWM to control the speed (between 0 to 100%) """
+    PWM_FREQ = 100  # Frequency 100 Hz
+    (UNDEFINED,HALT,FORWARD,BACKWARD) = (-1, 0,1,2)
+
+    def __init__( self, input_pins, pwm = None ):
+        """:param input_pins: tuple with input1 and input 2 pins
+           :param pwm: dic with pin, timer and channel """
+        self.speed = 0
+        self.state = HBridge.UNDEFINED
+        
+        # Init HBridge control pins
+        self.p_input1 = pyb.Pin( input_pins[0], pyb.Pin.OUT_PP )
+        self.p_input2 = pyb.Pin( input_pins[1], pyb.Pin.OUT_PP )
+
+        # Init PWM Control for speed control (without PWM, the L293D's
+        #   Enable pin must be place to HIGH level)
+        self.has_pwm = (pwm != None)
+        if self.has_pwm: 
+            self._timer = pyb.Timer( pwm['timer'], freq=self.PWM_FREQ )
+            self._channel = self._timer.channel( pwm['channel'], Timer.PWM, pin=pwm['pin'], pulse_width_percent=100 )
+
+        self.halt()
+
+    def set_speed( self, speed ):
+        if not(0 <= speed <= 100):
+            raise ValueError( 'invalid speed' )
+        # Use PWM speed ?
+        if self.has_pwm:
+            self._channel.pulse_width_percent( speed )
+            self.speed = speed
+        else:
+            # Non PWM
+            self.speed = 0 if speed == 0 else 100
+            if self.speed == 0 and self.state != HBridge.HALT:
+                self.halt() # force motor to stop by manipulating input1 & input2
+                
+    
+    def halt( self ):
+        self.p_input1.low()
+        self.p_input2.low()
+        self.state = HBridge.HALT # Do not invert ...
+        self.set_speed( 0 )       #    thoses 2 lines
+
+    def forward(self, speed = 100 ):
+        # reconfigure HBridge
+        if self.state != HBridge.FORWARD :
+            self.halt()
+            self.p_input1.low()
+            self.p_input2.high()
+            self.state = HBridge.FORWARD
+        # Set speed
+        self.set_speed( speed )
+        
+    def backward(self, speed = 100 ):
+        # reconfigure HBridge
+        if self.state != HBridge.BACKWARD:
+            self.halt()
+            self.p_input1.high()
+            self.p_input2.low()
+            self.state = HBridge.BACKWARD
+        # Set speed 
+        self.set_speed( speed )
+        
+
+# Pont-H broches de commande Input 1 et Input 2
+MOT1_PINS = (pyb.Pin.board.X6, pyb.Pin.board.X5)
+# Commande PWM pont-H
+MOT1_PWM = {'pin' : pyb.Pin.board.Y9, 'timer' : 2, 'channel' : 3 }   
+
+# Pont-H broches de commande Input 3 et Input 4
+MOT2_PINS = (pyb.Pin.board.X7, pyb.Pin.board.X8)
+# Commande PWM pont-H
+#MOT2_PWM = {'pin' : pyb.Pin.board.X10, 'timer' : 5, 'channel' : 4 }
+MOT2_PWM = {'pin' : pyb.Pin.board.Y10, 'timer' : 2, 'channel' : 4 }
+# moteur droit h1 moteur gauche h2
+h1 = HBridge( MOT1_PINS, MOT1_PWM )
+h2 = HBridge( MOT2_PINS, MOT2_PWM )
+
+# bouton sur carte prototype
+btn = pyb.Pin( 'Y8', pyb.Pin.IN, pull=pyb.Pin.PULL_UP )
+# bouton sur la carte USR
+sw = pyb.Switch()
+# photoresistance
+ldr = pyb.ADC('X19')
+# accelerometre
+accel = pyb.Accel()
+x = accel.x()
+SENS = 3
+# led sur la carte
+myled = pyb.LED(1)
+xlights = (pyb.LED(3), pyb.LED(4))
+# servo direction
+sd = pyb.Servo(1)
+
+
+def dist_obstacle():
+    trigger = pyb.Pin(pyb.Pin.board.Y5, mode=pyb.Pin.OUT, pull=None)
+    trigger.low()
+    echo = pyb.Pin(pyb.Pin.board.Y6, mode=pyb.Pin.IN, pull=None)
+    trigger.high()
+    time.sleep(0.00001)
+    trigger.low()
+    while echo.value() == 0:
+        pass
+    start = time.ticks_us()
+    while echo.value() == 1:
+        pass
+    stop = time.ticks_us()
+    return round((stop-start)*34/2000,1)
+
+def lectension():
+    lecture = ldr.read()
+    tension = (lecture*3.3)/4095
+    pyb.delay(100)
+    return tension
+
+
+