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Ajout Lundi

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vandepoele.e 2 years ago
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  1. 359
      main.py

359
main.py
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@ -1,145 +1,214 @@
# Programme voiture autonome a completer # Programme voiture autonome a completer
import pyb, time import pyb, time
from pyb import delay, Timer from pyb import delay, Timer
class HBridge: class HBridge:
""" Control à H-Bridge. Also support PWM to control the speed (between 0 to 100%) """ """ Control à H-Bridge. Also support PWM to control the speed (between 0 to 100%) """
PWM_FREQ = 100 # Frequency 100 Hz PWM_FREQ = 100 # Frequency 100 Hz
(UNDEFINED,HALT,FORWARD,BACKWARD) = (-1, 0,1,2) (UNDEFINED,HALT,FORWARD,BACKWARD) = (-1, 0,1,2)
def __init__( self, input_pins, pwm = None ): def __init__( self, input_pins, pwm = None ):
""":param input_pins: tuple with input1 and input 2 pins """:param input_pins: tuple with input1 and input 2 pins
:param pwm: dic with pin, timer and channel """ :param pwm: dic with pin, timer and channel """
self.speed = 0 self.speed = 0
self.state = HBridge.UNDEFINED self.state = HBridge.UNDEFINED
# Init HBridge control pins # Init HBridge control pins
self.p_input1 = pyb.Pin( input_pins[0], pyb.Pin.OUT_PP ) self.p_input1 = pyb.Pin( input_pins[0], pyb.Pin.OUT_PP )
self.p_input2 = pyb.Pin( input_pins[1], 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 # Init PWM Control for speed control (without PWM, the L293D's
# Enable pin must be place to HIGH level) # Enable pin must be place to HIGH level)
self.has_pwm = (pwm != None) self.has_pwm = (pwm != None)
if self.has_pwm: if self.has_pwm:
self._timer = pyb.Timer( pwm['timer'], freq=self.PWM_FREQ ) 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._channel = self._timer.channel( pwm['channel'], Timer.PWM, pin=pwm['pin'], pulse_width_percent=100 )
self.halt() self.halt()
def set_speed( self, speed ): def set_speed( self, speed ):
if not(0 <= speed <= 100): if not(0 <= speed <= 100):
raise ValueError( 'invalid speed' ) raise ValueError( 'invalid speed' )
# Use PWM speed ? # Use PWM speed ?
if self.has_pwm: if self.has_pwm:
self._channel.pulse_width_percent( speed ) self._channel.pulse_width_percent( speed )
self.speed = speed self.speed = speed
else: else:
# Non PWM # Non PWM
self.speed = 0 if speed == 0 else 100 self.speed = 0 if speed == 0 else 100
if self.speed == 0 and self.state != HBridge.HALT: if self.speed == 0 and self.state != HBridge.HALT:
self.halt() # force motor to stop by manipulating input1 & input2 self.halt() # force motor to stop by manipulating input1 & input2
def halt( self ): def halt( self ):
self.p_input1.low() self.p_input1.low()
self.p_input2.low() self.p_input2.low()
self.state = HBridge.HALT # Do not invert ... self.state = HBridge.HALT # Do not invert ...
self.set_speed( 0 ) # thoses 2 lines self.set_speed( 0 ) # thoses 2 lines
def forward(self, speed = 100 ): def forward(self, speed = 100 ):
# reconfigure HBridge # reconfigure HBridge
if self.state != HBridge.FORWARD : if self.state != HBridge.FORWARD :
self.halt() self.halt()
self.p_input1.low() self.p_input1.low()
self.p_input2.high() self.p_input2.high()
self.state = HBridge.FORWARD self.state = HBridge.FORWARD
# Set speed # Set speed
self.set_speed( speed ) self.set_speed( speed )
def backward(self, speed = 100 ): def backward(self, speed = 100 ):
# reconfigure HBridge # reconfigure HBridge
if self.state != HBridge.BACKWARD: if self.state != HBridge.BACKWARD:
self.halt() self.halt()
self.p_input1.high() self.p_input1.high()
self.p_input2.low() self.p_input2.low()
self.state = HBridge.BACKWARD self.state = HBridge.BACKWARD
# Set speed # Set speed
self.set_speed( speed ) self.set_speed( speed )
# Pont-H broches de commande Input 1 et Input 2 # Pont-H broches de commande Input 1 et Input 2
MOT1_PINS = (pyb.Pin.board.X6, pyb.Pin.board.X5) MOT1_PINS = (pyb.Pin.board.X6, pyb.Pin.board.X5)
# Commande PWM pont-H # Commande PWM pont-H
MOT1_PWM = {'pin' : pyb.Pin.board.Y9, 'timer' : 2, 'channel' : 3 } MOT1_PWM = {'pin' : pyb.Pin.board.Y9, 'timer' : 2, 'channel' : 3 }
# Pont-H broches de commande Input 3 et Input 4 # Pont-H broches de commande Input 3 et Input 4
MOT2_PINS = (pyb.Pin.board.X7, pyb.Pin.board.X8) MOT2_PINS = (pyb.Pin.board.X7, pyb.Pin.board.X8)
# Commande PWM pont-H # Commande PWM pont-H
#MOT2_PWM = {'pin' : pyb.Pin.board.X10, 'timer' : 5, 'channel' : 4 } #MOT2_PWM = {'pin' : pyb.Pin.board.X10, 'timer' : 5, 'channel' : 4 }
MOT2_PWM = {'pin' : pyb.Pin.board.Y10, 'timer' : 2, 'channel' : 4 } MOT2_PWM = {'pin' : pyb.Pin.board.Y10, 'timer' : 2, 'channel' : 4 }
# moteur droit h1 moteur gauche h2 # moteur droit h1 moteur gauche h2
h1 = HBridge( MOT1_PINS, MOT1_PWM ) h1 = HBridge( MOT1_PINS, MOT1_PWM )
h2 = HBridge( MOT2_PINS, MOT2_PWM ) h2 = HBridge( MOT2_PINS, MOT2_PWM )
# bouton sur carte prototype # bouton sur carte prototype
btn = pyb.Pin( 'Y8', pyb.Pin.IN, pull=pyb.Pin.PULL_UP ) btn = pyb.Pin( 'Y8', pyb.Pin.IN, pull=pyb.Pin.PULL_UP )
# bouton sur la carte USR # bouton sur la carte USR
sw = pyb.Switch() sw = pyb.Switch()
# photoresistance # photoresistance
ldr = pyb.ADC('X19') ldr = pyb.ADC('X19')
# accelerometre # accelerometre
accel = pyb.Accel() accel = pyb.Accel()
x = accel.x() x = accel.x()
SENS = 3 SENS = 3
# led sur la carte # led sur la carte
myled = pyb.LED(1) led_lum = pyb.LED(1)
xlights = (pyb.LED(3), pyb.LED(4)) led_montee = pyb.LED(2)
# servo direction led_descente = pyb.LED(3)
sd = pyb.Servo(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) def dist_obstacle():
trigger.low() trigger = pyb.Pin(pyb.Pin.board.Y5, mode=pyb.Pin.OUT, pull=None)
echo = pyb.Pin(pyb.Pin.board.Y6, mode=pyb.Pin.IN, pull=None) trigger.low()
trigger.high() echo = pyb.Pin(pyb.Pin.board.Y6, mode=pyb.Pin.IN, pull=None)
time.sleep(0.00001) trigger.high()
trigger.low() time.sleep(0.00001)
while echo.value() == 0: trigger.low()
pass while echo.value() == 0:
start = time.ticks_us() pass
while echo.value() == 1: start = time.ticks_us()
pass while echo.value() == 1:
stop = time.ticks_us() pass
return round((stop-start)*34/2000,1) stop = time.ticks_us()
return round((stop-start)*34/2000,1)
def lectension():
lecture = ldr.read() def lectension():
tension = (lecture*3.3)/4095 lecture = ldr.read()
pyb.delay(100) tension = (lecture*3.3)/4095
return tension pyb.delay(100)
return tension
#15 speed min
def allSpeed(speed): #15 speed min
h1.forward(speed) def allSpeed(speed):
h2.forward(speed) if speed == 0:
forward = False
def vitesse(): sd.angle(30)
if dist_obstacle() < 5: else:
speed = 0 forward = True
elif dist_obstacle() < 15: sd.angle(0)
speed = 15
elif dist_obstacle() < 25: if forward == True:
speed = 20 h1.forward(speed)
elif dist_obstacle() < 40: h2.forward(speed)
speed = 35 else:
else: h1.backward(speed)
speed = 50 h2.backward(speed)
if 50 > x+5: def vitesse():
speed = 0 if accel.x() <= -1:
terrain = lst_terrain[0]
return speed led_montee.off()
led_descente.on()
while True: """descente"""
allSpeed(vitesse()) if dist_obstacle() < 10:
speed = 0
elif dist_obstacle() < 15:
speed = 1
elif dist_obstacle() < 25:
speed = 2
elif dist_obstacle() < 40:
speed = 4
else:
speed = 5
elif accel.x() > 3:
terrain = lst_terrain[1]
led_descente.off()
led_montee.on()
"""montee"""
if dist_obstacle() < 10:
speed = 0
elif dist_obstacle() < 15:
speed = 15
elif dist_obstacle() < 25:
speed = 20
elif dist_obstacle() < 40:
speed = 35
else:
speed = 50
else:
terrain = lst_terrain[2]
led_descente.off()
led_montee.off()
"""plat"""
if dist_obstacle() < 5:
speed = 0
elif dist_obstacle() < 15:
speed = 15
elif dist_obstacle() < 25:
speed = 20
elif dist_obstacle() < 40:
speed = 35
else:
speed = 50
return speed
marche = True
forward = True
lst_terrain = ["descente", "montee", "plat"]
sw = pyb.Switch()
while True:
if lectension() < 1:
led_lum.on()
else:
led_lum.off()
if sw():
marche = not marche
while sw():
pass
if marche:
print(forward)
if forward == True:
allSpeed(vitesse())
elif forward == False:
allSpeed(25)
else:
allSpeed(0)
allSpeed(0)
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