# main.py -- put your code here!
from pyb import Pin
from pyb import UART
N1 = Pin('Y1', Pin.OUT_PP)
N2 = Pin('Y2', Pin.OUT_PP)
N3 = Pin('Y3', Pin.OUT_PP)
N4 = Pin('Y4', Pin.OUT_PP)
N5 = Pin('Y6', Pin.OUT_PP)
N6 = Pin('Y7', Pin.OUT_PP)
N7 = Pin('Y8', Pin.OUT_PP)
N8 = Pin('Y9', Pin.OUT_PP)
led_red=Pin('Y5', Pin.OUT_PP)
led_right=Pin('Y12', Pin.OUT_PP)
led_left=Pin('Y11', Pin.OUT_PP)
led_red.value(1)
led_right.value(0)
led_left.value(0)
blue=UART(1,9600,timeout=100)
def go(speed):
M1_0=pyb.Timer(8, freq=10000).channel(1, pyb.Timer.PWM, pin=pyb.Pin.board.Y1, pulse_width=(speed*200)+10000)
M1_1=pyb.Timer(8, freq=10000).channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.Y2, pulse_width=0)
M2_0=pyb.Timer(4, freq=10000).channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.Y3, pulse_width=(speed*100)+5000)
M2_1=pyb.Timer(4, freq=10000).channel(4, pyb.Timer.PWM, pin=pyb.Pin.board.Y4, pulse_width=0)
M3_0=pyb.Timer(1, freq=10000).channel(1, pyb.Timer.PWM, pin=pyb.Pin.board.Y6, pulse_width=(speed*220)+10000)
M3_1=pyb.Timer(1, freq=10000).channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.Y7, pulse_width=0)
M4_0=pyb.Timer(2, freq=10000).channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.Y9, pulse_width=(speed*50)+5000)
M4_1=pyb.Timer(12, freq=10000).channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.Y8, pulse_width=0)
led_red.value(0)
def back(speed):
M1_0=pyb.Timer(8, freq=10000).channel(1, pyb.Timer.PWM, pin=pyb.Pin.board.Y1, pulse_width=0)
M1_1=pyb.Timer(8, freq=10000).channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.Y2, pulse_width=(speed*200)+10000)
M2_0=pyb.Timer(4, freq=10000).channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.Y3, pulse_width=0)
M2_1=pyb.Timer(4, freq=10000).channel(4, pyb.Timer.PWM, pin=pyb.Pin.board.Y4, pulse_width=(speed*100)+10000)
M3_0=pyb.Timer(1, freq=10000).channel(1, pyb.Timer.PWM, pin=pyb.Pin.board.Y6, pulse_width=0)
M3_1=pyb.Timer(1, freq=10000).channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.Y7, pulse_width=(speed*200)+10000)
M4_0=pyb.Timer(2, freq=10000).channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.Y9, pulse_width=0)
M4_1=pyb.Timer(12, freq=10000).channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.Y8, pulse_width=(speed*100)+10000)
led_red.value(1)
def stop():
M1_0=pyb.Timer(8, freq=10000).channel(1, pyb.Timer.PWM, pin=pyb.Pin.board.Y1, pulse_width=0)
M1_1=pyb.Timer(8, freq=10000).channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.Y2, pulse_width=0)
M2_0=pyb.Timer(4, freq=10000).channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.Y3, pulse_width=0)
M2_1=pyb.Timer(4, freq=10000).channel(4, pyb.Timer.PWM, pin=pyb.Pin.board.Y4, pulse_width=0)
M3_0=pyb.Timer(1, freq=10000).channel(1, pyb.Timer.PWM, pin=pyb.Pin.board.Y6, pulse_width=0)
M3_1=pyb.Timer(1, freq=10000).channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.Y7, pulse_width=0)
M4_0=pyb.Timer(12, freq=10000).channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.Y8, pulse_width=0)
M4_1=pyb.Timer(2, freq=10000).channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.Y9, pulse_width=0)
led_right.value(0)
led_left.value(0)
led_red.value(1)
def left(speed):
M1_0=pyb.Timer(8, freq=10000).channel(1, pyb.Timer.PWM, pin=pyb.Pin.board.Y1, pulse_width=(speed*30)+10000)
M1_1=pyb.Timer(8, freq=10000).channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.Y2, pulse_width=0)
M2_0=pyb.Timer(4, freq=10000).channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.Y3, pulse_width=(speed*100)+10000)
M2_1=pyb.Timer(4, freq=10000).channel(4, pyb.Timer.PWM, pin=pyb.Pin.board.Y4, pulse_width=0)
M3_0=pyb.Timer(1, freq=10000).channel(1, pyb.Timer.PWM, pin=pyb.Pin.board.Y6, pulse_width=(speed*30)+10000)
M3_1=pyb.Timer(1, freq=10000).channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.Y7, pulse_width=0)
M4_0=pyb.Timer(2, freq=10000).channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.Y9, pulse_width=(speed*100)+10000)
M4_1=pyb.Timer(12, freq=10000).channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.Y8, pulse_width=0)
led_right.value(1)
led_left.value(0)
def right(speed):
M1_0=pyb.Timer(8, freq=10000).channel(1, pyb.Timer.PWM, pin=pyb.Pin.board.Y1, pulse_width=(speed*200)+20000)
M1_1=pyb.Timer(8, freq=10000).channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.Y2, pulse_width=0)
M2_0=pyb.Timer(4, freq=10000).channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.Y3, pulse_width=(speed*200)+3000)
M2_1=pyb.Timer(4, freq=10000).channel(4, pyb.Timer.PWM, pin=pyb.Pin.board.Y4, pulse_width=0)
M3_0=pyb.Timer(1, freq=10000).channel(1, pyb.Timer.PWM, pin=pyb.Pin.board.Y6, pulse_width=(speed*100)+20000)
M3_1=pyb.Timer(1, freq=10000).channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.Y7, pulse_width=0)
M4_0=pyb.Timer(2, freq=10000).channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.Y9, pulse_width=(speed*100)+3000)
M4_1=pyb.Timer(12, freq=10000).channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.Y8, pulse_width=0)
led_right.value(0)
led_left.value(1)
while True:
if blue.any()>0:
data=blue.read().decode()
print(data)
if data.find('0')>-1:
#stop
stop()
print('stop')
if data.find('1')>-1:
pyb.LED(2).on()
pyb.LED(3).off()
pyb.LED(4).off()
#-------------
go(5)
print('go')
if data.find('2')>-1:
pyb.LED(2).off()
pyb.LED(3).on()
pyb.LED(4).off()
#-------------
back(5)
if data.find('3')>-1:
pyb.LED(2).off()
pyb.LED(3).off()
pyb.LED(4).on()
left(5)
if data.find('4')>-1:
pyb.LED(2).off()
pyb.LED(3).off()
pyb.LED(4).on()
right(5)