Maqueen external module for the microbit now gets support

bin/micro_bit/micro_bit_soft/follow_the_line/ftl.py

@@ -0,0 +1,29 @@
+import maqueen_driver
+import microbit
+import music
+
+md = maqueen_driver.Driver()
+
+class FollowTheLine:
+    def __init__(self):
+        self.__activated = 0
+
+    def run(self):
+        while True:
+            if md.getDistance() < 20:
+                md.stop()
+                md.setLEDs(on=1)
+                music.pitch(440, 20)
+            else:
+                if md.getLineTracker(1) == 0:
+                    self.__activated = 0
+                    md.motor(0, 100, 0, 255)
+                elif md.getLineTracker(2) == 0:
+                    self.__activated = 0
+                    md.motor(0, 255, 0, 100)
+                else:
+                    if self.__activated <= 50:
+                        self.__activated += 1
+                        md.motor(0, 140, 0, 140)
+                    else:
+                        md.motor(0, 255, 0, 255)

bin/micro_bit/micro_bit_soft/follow_the_line/maqueen_driver.py

@@ -0,0 +1,117 @@
+from microbit import *
+import machine
+
+
+class Driver:
+    # Maqueen motor control
+    # direction:0=forward  1=back
+    # speed：0~255
+    def __init__(self):
+        self._v = 127
+        self.i2cAddr = 0x10
+        self.FORW = 0
+        self.BACK = 1
+        self.s = 0.069
+
+    def motor(self, directionL, speedL, directionR, speedR):
+        self.buf = bytearray(5)
+        self.buf[0] = 0x00 # offset
+        self.buf[1] = directionL
+        self.buf[2] = speedL
+        self.buf[3] = directionR
+        self.buf[4] = speedR
+        try:
+            i2c.write(self.i2cAddr, self.buf)
+        except:
+            print("Please switch on mbRobot!")
+            while True:
+                pass
+
+    def motorL(self, directionL, speedL):
+        self.buf = bytearray(3)
+        self.buf[0] = 0x00 # offset
+        self.buf[1] = directionL
+        self.buf[2] = speedL
+        try:
+            i2c.write(self.i2cAddr, self.buf)
+        except:
+            print("Please switch on mbRobot!")
+            while True:
+                pass
+
+    def motorR(self, directionR, speedR):
+        self.buf = bytearray(3)
+        self.buf[0] = 0x02 # offset
+        self.buf[1] = directionR
+        self.buf[2] = speedR
+        try:
+            i2c.write(self.i2cAddr, self.buf)
+        except:
+            print("Please switch on mbRobot!")
+            while True:
+                pass
+
+    # set speed in percentage (0..100)
+    def setSpeed(self, speed):
+        self._v = abs(speed) * 255 // 100
+
+    def forward(self):
+        self.motor(self.FORW, self._v, self.FORW, self._v)
+
+    def backward(self):
+        self.motor(self.BACK, self._v, self.BACK, self._v)
+
+    def stop(self):
+        self.motor(self.FORW, 0, self.FORW, 0)
+
+    def right(self):
+        self.motor(self.FORW if self._v > 0 else self.BACK, self._v * 675 // 1000, self.BACK if self._v > 0 else self.FORW, self._v * 675 // 1000)
+
+    def left(self):
+        self.motor(self.BACK if self._v > 0 else self.FORW, self._v * 675 // 1000, self.FORW if self._v > 0 else self.BACK, self._v * 675 // 1000)
+
+    def rightArc(self, r):
+        self.vo = self._v
+        self.vi = 0
+        if r > self.s:
+            self.vi = round(self._v * ((r - self.s) / (r + self.s) * (1 - self._v * self._v / 200000)))
+        self.motor(self.FORW, self.vo, self.FORW, self.vi)
+
+    def leftArc(self, r):
+        self.vo = self._v
+        self.vi = 0
+        if r > self.s:
+            self.vi = round(self._v * ((r - self.s) / (r + self.s) * (1 - self._v * self._v / 200000)))
+        self.motor(self.FORW, self.vi, self.FORW, self.vo)
+
+    def setLeftLED(self, on):
+        pin8.write_digital(on)
+
+    def setRightLED(self, on):
+        pin12.write_digital(on)
+
+    # index：the corresponding line-tracking sensor (1=left, 2=right)
+    # returns 0 for black underground and 1 for white underground
+    def getLineTracker(self, index):
+        if (index == 1):
+            return pin13.read_digital()
+        if (index == 2):
+            return pin14.read_digital()
+
+    def setLEDs(self, on):
+        self.setLeftLED(on)
+        self.setRightLED(on)
+
+    def getDistance(self):
+        # Send a pulse on pin 1
+    #     pin1.write_digital(0)
+    #     sleep(0.002)
+        pin1.write_digital(1)
+    #     sleep(0.010)
+        pin1.write_digital(0)
+
+        self.pulse_us = machine.time_pulse_us(pin2, 1)
+        if (self.pulse_us < 0):
+            return 0
+        # ((pulse_us / 1000000) * 341) / 2 * 100
+        return self.pulse_us * 0.01705

bin/micro_bit/micro_bit_soft/follow_the_line/run.py

@@ -0,0 +1,3 @@
+import ftl
+
+ftl.FollowTheLine().run()