From 3bdb313f3d8cd20a82659ed4bf4657c693ec5837 Mon Sep 17 00:00:00 2001 From: Hel Gibbons Date: Mon, 30 May 2022 16:57:32 +0100 Subject: [PATCH 1/3] Create businessbot.py --- .../businessbot/businessbot.py | 131 ++++++++++++++++++ 1 file changed, 131 insertions(+) create mode 100644 micropython/examples/breakout_vl53l5cx/businessbot/businessbot.py diff --git a/micropython/examples/breakout_vl53l5cx/businessbot/businessbot.py b/micropython/examples/breakout_vl53l5cx/businessbot/businessbot.py new file mode 100644 index 00000000..7a04cb02 --- /dev/null +++ b/micropython/examples/breakout_vl53l5cx/businessbot/businessbot.py @@ -0,0 +1,131 @@ +import pimoroni_i2c +import breakout_vl53l5cx +import time +from ulab import numpy +from motor import Motor, pico_motor_shim +from pimoroni import NORMAL_DIR, REVERSED_DIR + +# The VL53L5CX requires a firmware blob to start up. +# Make sure you upload "vl53l5cx_firmware.bin" via Thonny to the root of your filesystem +# You can find it here: https://github.com/ST-mirror/VL53L5CX_ULD_driver/blob/no-fw/lite/en/vl53l5cx_firmware.bin + +# This example attempts to track a "bright" object (such as a white business card). +# It uses reflectance to identify the target and compute the X/Y coordinates +# of its "center of mass" in the sensors view. +# We then use the object tracking to drive a little robot towards a business card onna stick! + +# Motion indication only works at distances > 400mm so it's not +# really useful as a method to reject data. + +# Configure your distance and brightness thresholds to suit your object +DISTANCE_THRESHOLD = 400 # Distance in mm +REFLECTANCE_THRESHOLD = 60 # Estimated reflectance in % + +PINS_BREAKOUT_GARDEN = {"sda": 4, "scl": 5} +PINS_PICO_EXPLORER = {"sda": 20, "scl": 21} + +# Sensor startup time is proportional to i2c baudrate +# HOWEVER many sensors may not run at > 400KHz (400000) +i2c = pimoroni_i2c.PimoroniI2C(**PINS_BREAKOUT_GARDEN, baudrate=2_000_000) + +# Speed / distance constants for the robot - modify these to change driving behaviour! +DRIVING_SPEED = 0.7 # The speed to drive the wheels at when going forward +TURNING_SPEED = 0.2 # The speed to drive the wheels at when turning +GOAL_DISTANCE = 100.0 # The distance in mm the robot will keep an object in front of it +SPEED_RANGE = 50.0 # The distance an object is from the goal that will have the robot drive at full speed + +# Setup the left and right motors - we're connecting our motors via a Motor SHIM for Pico. +# Swap the directions if this is different to your setup +left = Motor(pico_motor_shim.MOTOR_1, direction=REVERSED_DIR) +right = Motor(pico_motor_shim.MOTOR_2, direction=NORMAL_DIR) + +# Setup the VL53L5CX sensor +print("Starting up sensor...") +t_sta = time.ticks_ms() +sensor = breakout_vl53l5cx.VL53L5CX(i2c) +t_end = time.ticks_ms() +print("Done in {}ms...".format(t_end - t_sta)) + +# Make sure to set resolution and other settings *before* you start ranging +sensor.set_resolution(breakout_vl53l5cx.RESOLUTION_8X8) +sensor.set_ranging_frequency_hz(15) +sensor.start_ranging() + +while True: + time.sleep(1.0 / 60) + if sensor.data_ready(): + # "data" is a namedtuple (attrtuple technically) + # it includes average readings as "distance_avg" and "reflectance_avg" + # plus a full 4x4 or 8x8 set of readings (as a 1d tuple) for both values. + data = sensor.get_data() + + reflectance = numpy.array(data.reflectance).reshape((8, 8)) + distance = numpy.array(data.distance).reshape((8, 8)) + + scalar = 0 + target_distance = 0 + n_distances = 0 + # Filter out unwanted reflectance values + for ox in range(8): + for oy in range(8): + d = distance[ox][oy] + r = reflectance[ox][oy] + if d > DISTANCE_THRESHOLD or r < REFLECTANCE_THRESHOLD: + reflectance[ox][oy] = 0 + else: + scalar += r + + # Get a total from all the distances within our accepted target + for ox in range(8): + for oy in range(8): + d = distance[ox][oy] + r = reflectance[ox][oy] + if r > 0: + target_distance += d + n_distances += 1 + + # Average the target distance + if n_distances > 0: + target_distance /= n_distances + else: + target_distance = 0 + + # Flip reflectance now we've applied distance + # both fields are upside-down! + reflectance = numpy.flip(reflectance, axis=0) + + # Calculate the center of mass along X and Y + x = 0 + y = 0 + if scalar > 0: + for ox in range(8): + for oy in range(8): + y += reflectance[ox][oy] * ox + y /= scalar + y /= 3.5 + y -= 1.0 + + for oy in range(8): + for ox in range(8): + x += reflectance[ox][oy] * oy + x /= scalar + x /= 3.5 + x -= 1.0 + + print("Object detected at x: {:.2f}, y: {:.2f}".format(x, y)) + + # Our robot will try and keep the object a goal distance in front of it. + # If the object gets closer it will reverse, if the object gets further away it will drive forward. + scale = (target_distance - GOAL_DISTANCE) / SPEED_RANGE + spd = max(min(scale, 1.0), -1.0) * DRIVING_SPEED + + print("Distance is {:.1f} mm. Speed is {:.2f}".format(target_distance, spd)) + + left.speed(spd - (x * TURNING_SPEED)) + right.speed(spd + (x * TURNING_SPEED)) + else: + left.coast() + right.coast() + + + From fe9446aea36d281f9b2ca24538170636ec24114e Mon Sep 17 00:00:00 2001 From: Hel Gibbons Date: Mon, 30 May 2022 17:02:27 +0100 Subject: [PATCH 2/3] Linting businessbot.py --- .../breakout_vl53l5cx/businessbot/businessbot.py | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) diff --git a/micropython/examples/breakout_vl53l5cx/businessbot/businessbot.py b/micropython/examples/breakout_vl53l5cx/businessbot/businessbot.py index 7a04cb02..128b277a 100644 --- a/micropython/examples/breakout_vl53l5cx/businessbot/businessbot.py +++ b/micropython/examples/breakout_vl53l5cx/businessbot/businessbot.py @@ -111,21 +111,18 @@ while True: x /= scalar x /= 3.5 x -= 1.0 - + print("Object detected at x: {:.2f}, y: {:.2f}".format(x, y)) - + # Our robot will try and keep the object a goal distance in front of it. # If the object gets closer it will reverse, if the object gets further away it will drive forward. scale = (target_distance - GOAL_DISTANCE) / SPEED_RANGE spd = max(min(scale, 1.0), -1.0) * DRIVING_SPEED - + print("Distance is {:.1f} mm. Speed is {:.2f}".format(target_distance, spd)) - + left.speed(spd - (x * TURNING_SPEED)) - right.speed(spd + (x * TURNING_SPEED)) + right.speed(spd + (x * TURNING_SPEED)) else: left.coast() - right.coast() - - - + right.coast() \ No newline at end of file From b999b5c1e6eec68745accb443980c1f1104997e3 Mon Sep 17 00:00:00 2001 From: Hel Gibbons Date: Mon, 30 May 2022 17:04:10 +0100 Subject: [PATCH 3/3] Linting businessbot.py --- .../examples/breakout_vl53l5cx/businessbot/businessbot.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/micropython/examples/breakout_vl53l5cx/businessbot/businessbot.py b/micropython/examples/breakout_vl53l5cx/businessbot/businessbot.py index 128b277a..8c5dc58a 100644 --- a/micropython/examples/breakout_vl53l5cx/businessbot/businessbot.py +++ b/micropython/examples/breakout_vl53l5cx/businessbot/businessbot.py @@ -125,4 +125,4 @@ while True: right.speed(spd + (x * TURNING_SPEED)) else: left.coast() - right.coast() \ No newline at end of file + right.coast()