93 lines
2.5 KiB
Python
93 lines
2.5 KiB
Python
import time
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from machine import Pin, ADC, PWM
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light_sensor_1 = ADC(26)
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light_sensor_2 = ADC(27)
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servo_pwm = PWM(Pin(28, Pin.OUT))
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servo_pwm.freq(50)
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cur_deg = 90
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reset_button = Pin(14, Pin.IN)
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calibrate_button = Pin(15, Pin.IN)
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cal_threshold = 0
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led = Pin(0, Pin.OUT)
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led.high()
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run_avg = [0, 0, 0, 0, 0]
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sensitivity = 10
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def servo(degrees):
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if degrees > 180:
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degrees = 180
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if degrees < 0:
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degrees = 0
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max_duty = 2500000
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min_duty = 500000
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new_duty = min_duty + (max_duty - min_duty) * (degrees / 180)
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servo_pwm.duty_ns(int(new_duty))
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def shift_array(arr, num_to_add):
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arr.pop(0)
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arr.append(num_to_add)
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return arr
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def move_to_light():
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global cur_deg
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is_facing_light = False
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while not is_facing_light:
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offset = light_sensor_1.read_u16() - light_sensor_2.read_u16()
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if offset > (sensitivity - 5) and cur_deg > 0:
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cur_deg = cur_deg - 1
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servo(cur_deg - 5)
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elif offset < -(sensitivity - 5) and cur_deg < 180:
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cur_deg = cur_deg + 1
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servo(cur_deg)
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else:
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is_facing_light = True
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time.sleep(.01)
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servo(90)
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while True:
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if reset_button.value() == 1:
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led.low()
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cur_deg = 90
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servo(90)
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cal_threshold = 0
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run_avg = [0, 0, 0, 0, 0]
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while reset_button.value() == 1:
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time.sleep(.1)
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led.high()
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continue
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diff = light_sensor_1.read_u16() - light_sensor_2.read_u16()
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run_avg = shift_array(run_avg, diff)
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if calibrate_button.value() == 1:
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cal_threshold = int((light_sensor_1.read_u16() + light_sensor_2.read_u16()) / 2) - 25
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while calibrate_button.value() == 1:
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time.sleep(.1)
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if cal_threshold == 0 or (light_sensor_1.read_u16() > cal_threshold and light_sensor_2.read_u16() > cal_threshold):
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continue
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num_over = 0
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first_iter = True
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sign = True
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for i in run_avg:
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cur_num = i
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if abs(cur_num) > sensitivity:
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if first_iter:
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if cur_num >= 0:
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sign = True
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else:
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sign = False
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first_iter = False
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if (cur_num >= 0 and not sign) or (cur_num < 0 and sign):
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num_over = 0
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first_iter = True
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break
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elif (cur_num >= 0 and sign) or (cur_num < 0 and not sign):
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num_over += 1
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if num_over == 5:
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move_to_light()
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run_avg = [0, 0, 0, 0, 0]
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