55 lines
1.3 KiB
Python
55 lines
1.3 KiB
Python
import machine
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import utime, sys
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import json
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import gc
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from stm32_ssd1306 import SSD1306, SSD1306_I2C
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from stm32_vl53l0x import VL53L0X
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from stm32_nec import NEC_8, NEC_16
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from stm32_alphabot_v2 import AlphaBot_v2
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import neopixel
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import _thread
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import os
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import bluetooth
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from stm32_ble_uart import BLEUART
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import buzzer
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from Interpreteur import StartCPU
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alphabot = AlphaBot_v2()
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oled = SSD1306_I2C(128, 64, alphabot.i2c)
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ble = bluetooth.BLE()
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uart = BLEUART(ble, name="Nogard")
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print("BLE UART : Nogard")
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oled.fill(0)
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oled.show()
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def motorCallback(motG, motD):
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sMotG = 1 - ((motG >> 2) & 0b10)
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sMotD = 1 - ((motD >> 2) & 0b10)
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motG = ((motG & 0b0111) * sMotG) * 100 / 7
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motD = ((motD & 0b0111) * sMotD) * 100 / 7
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print("Mot G :", motG)
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print("Mot D :", motD)
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alphabot.setMotors(left=motG, right=motD)
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while True:
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joystickButton = alphabot.getJoystickValue()
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if (joystickButton == "center"):
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oled.text("Coucou !", 0, 0)
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oled.show()
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utime.sleep(1)
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oled.fill(0)
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oled.show()
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if (joystickButton == "left"):
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alphabot.setMotors(left=-100, right=100)
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utime.sleep(1)
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alphabot.stop()
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if (joystickButton == "right"):
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StartCPU("./out.bin", motorCallback)
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alphabot.stop()
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