Robotika[1]

2024

Servo

Programozási kitérő

• mi van ha több van ugyanabból a perifériából?
• másoljuk le a kódot...

Programozási kitérő

• mi van ha több van ugyanabból a perifériából?
• másoljuk le a kódot...

Programozási kitérő

• mi van ha több van ugyanabból a perifériából?
• csoportosítsuk ki közös részeket

Programozási kitérő

					from machine import PWM, Pin

					class Buzzer:
						_p: PWM

						def __init__(self, p: Pin, freq: int = 2000):
							self._p = PWM(p, freq=freq)

						def set_freq(self, freq: int):
							self._p.freq(freq)

						def set_volume(self, v: float):
							self._p.duty_u16(int(v * 0x7fff))

						def off(self):
							self._p.deinit()
				

config.json

Jó lenne ha a konfigurációt is ki lehetne csoportosítani...

config.json

					{

						"rgb_led": {
							"r": 16,
							"g": 15,
							"b": 14,

							"freq": 2000
						},

						"servo": {
							"pin": 22,
							"freq": 50,

							"min_duty": 550000,
							"mid_duty": 1400000,
							"max_duty": 2390000
						},

						"buzzer": {
							"pin": 4,
							"freq": 300
						}
					}
				

config.json

					from json import load

					with open('config.json') as f:
						cfg = load(f)
				

Motorok

• áram ⇒ forgás
  • fun fact: fordítva is működik
• a forgás iránya az áram irányától függ
• de hogy adunk neki több áramot mint amit a pico tud?
• és hogy cseréljük meg a kábeleket menet közben???

H bridge

H bridge

H bridge

H bridge

from machine import Pin, PWM
from utils import clamp

class HBridge:
	_r_pwm: PWM
	_l_pwm: PWM

	_l_1: Pin
	_l_2: Pin

	_r_1: Pin
	_r_2: Pin

def __init__(self,
	l_pwm: Pin, r_pwm: Pin,
	l_1: Pin, l_2: Pin,
	r_1: Pin, r_2: Pin,
	freq: int = 2000):
	self._r_pwm = PWM(r_pwm, freq=freq)
	self._l_pwm = PWM(l_pwm, freq=freq)
	self._l_1 = l_1
	self._l_2 = l_2
	self._r_1 = r_1
	self._r_2 = r_2

def drive(self, l: float, r: float):
	l = clamp(l, -1, 1)
	r = clamp(r, -1, 1)

	self._l_1.value(l < 0)
	self._l_2.value(l > 0)
	self._l_pwm.duty_u16(int(abs(l) * 0xffff))

	self._r_1.value(r > 0)
	self._r_2.value(r < 0)
	self._r_pwm.duty_u16(int(abs(r) * 0xffff))

def brake(self):
	self._r_1.value(True)
	self._r_2.value(True)
	self._r_1.value(True)
	self._r_2.value(True)
	self._l_pwm.duty_u16(0)
	self._r_pwm.duty_u16(0)

def set_freq(self, freq: int):
	self._l_pwm.freq(freq)
	self._r_pwm.freq(freq)

def off(self):
	self.drive(0, 0)

	self._l_pwm.deinit()
	self._r_pwm.deinit()

				

Ultra sensor

Ultra sensor

Ultra sensor

Ultra sensor

Ultra sensor

from machine import Pin, PWM
from machine import Pin, time_pulse_us
from time import sleep_us

M_PER_US = const(0.0001715)

MIN_DIST = const(0.02)
MAX_DIST = const(4.0)

class UltraSensor:
    _trig: Pin
    _echo: Pin

	def __init__(self, trig: Pin, echo: Pin):
        self._trig = trig
        self._echo = echo

    def measure_sync(self) -> float | None:
        self._trig.value(True)
        sleep_us(15)
        self._trig.value(False)

        dur_us = time_pulse_us(self._echo, 1, 60_000)

        m = dur_us * M_PER_US
        if m < MIN_DIST or m > MAX_DIST:
            return None

        return m
				

Ultra sensor

• kissé zajos... ki kéne simítani
• átlagoljuk
• de hogyan tároljuk a korábbiakat?

Ultra sensor

Ultra sensor

Ultra sensor

from machine import Pin, time_pulse_us
from time import sleep_us
from array import array

M_PER_US = const(0.0001715)

MIN_DIST = const(0.02)
MAX_DIST = const(4.0)

class UltraSensor:
	_trig: Pin
	_echo: Pin

	_arr: array[float]
	_arr_len: int
	_arr_p: int

	def __init__(self, trig: Pin, echo: Pin, array_len: int = 5):
		self._arr = array('f', [])
		self._arr_len = array_len
		self._arr_p = 0

		self._trig = trig
		self._echo = echo

	def measure_sync(self) -> float | None:
		self._trig.value(True)
		sleep_us(15)
		self._trig.value(False)

		dur_us = time_pulse_us(self._echo, 1, 60_000)

		m = dur_us * M_PER_US
		if m < MIN_DIST or m > MAX_DIST:
			return None

		l = len(self._arr)
		if self._arr_len <= l:
			self._arr[self._arr_p] = m
			self._arr_p = (self._arr_p + 1) % self._arr_len
		else:
			self._arr.append(m)
			self._arr_p = 0

		return sum(self._arr[:self._arr_len]) / self._arr_len					
				

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