mirror of
https://github.com/brendanhaines/ECEN5458_Project.git
synced 2024-09-19 20:36:01 -06:00
64 lines
1.8 KiB
Python
64 lines
1.8 KiB
Python
import time
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import numpy as np
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import board
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import busio
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import digitalio
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from adafruit_servokit import ServoKit
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import adafruit_ads1x15.ads1015 as ADS
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from adafruit_ads1x15.analog_in import AnalogIn
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if __name__ == "__main__":
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mux_io = [None] * 4
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mux_io[0] = digitalio.DigitalInOut(board.D17)
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mux_io[1] = digitalio.DigitalInOut(board.D27)
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mux_io[2] = digitalio.DigitalInOut(board.D22)
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mux_io[3] = digitalio.DigitalInOut(board.D23)
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for ii, io in enumerate(mux_io):
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io.switch_to_output()
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i2c = busio.I2C(board.SCL, board.SDA)
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adc = ADS.ADS1015(i2c)
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adc_mux = AnalogIn(adc, ADS.P0)
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def get_reflectivity(chan):
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chan = int(chan)
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global mux_io
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global adc_mux
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mux = 1-np.array(list(f"{chan:04b}"), dtype=int)
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for ii, io in enumerate(mux_io):
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io.value = mux[ii]
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return adc_mux.voltage
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input("White calibration, press ENTER to continue...")
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white_cal = [get_reflectivity(c) for c in range(8)]
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input("Black calibration, press ENTER to continue...")
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black_cal = [get_reflectivity(c) for c in range(8)]
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def get_normalized_reflectivity(chan):
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global white_cal
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global black_cal
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return (get_reflectivity(chan) - black_cal[chan]) / (white_cal[chan] - black_cal[chan])
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while True:
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for ii in range(8):
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print(f"{get_normalized_reflectivity(ii):1.2f}\t", end="")
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print()
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# servos = ServoKit(channels=16).continuous_servo
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# servos[0].throttle = 0
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# servos[1].throttle = 0
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# servos[2].throttle = 0
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# time.sleep(1)
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# servos[0].throttle = 20
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# servos[1].throttle = 20
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# servos[2].throttle = 20
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# time.sleep(1)
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# servos[0].throttle = 0
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# servos[1].throttle = 0
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# servos[2].throttle = 0
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