Difference between revisions of "Template:User Guides"
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| + | <!-- | ||
==Software Setup== | ==Software Setup== | ||
*Download the [https://micropython.org/resources/firmware/rp2-pico-20220117-v1.18.uf2 MicroPython firmware] | *Download the [https://micropython.org/resources/firmware/rp2-pico-20220117-v1.18.uf2 MicroPython firmware] | ||
| − | *Press and hold the Reset button of the Pico board, connect it to the Host PC by USB cable and then release. | + | *Press and hold the Reset button of the Pico board, connect it to the Host PC by USB cable, and then release. |
*Drag or copy the downloaded UF2 file to the removable RPI-RP2 disk (Pico board) | *Drag or copy the downloaded UF2 file to the removable RPI-RP2 disk (Pico board) | ||
*The Pico board will auto-restart and it is ready to flash Micropython examples. | *The Pico board will auto-restart and it is ready to flash Micropython examples. | ||
| − | *For more information about how to use the Pico board, please refer to the [https:// | + | *For more information about how to use the Pico board, please refer to the [https://files.waveshare.com/upload/b/b0/Pico_python_sdk.pdf Pico Python SDK] |
| + | |||
| + | |||
==Hardware Setup== | ==Hardware Setup== | ||
Please follow the video to assemble the Picogo. <br /> | Please follow the video to assemble the Picogo. <br /> | ||
| Line 13: | Line 16: | ||
Open a terminal and run the following command to download the examples and unzip them. | Open a terminal and run the following command to download the examples and unzip them. | ||
<pre> | <pre> | ||
| − | wget https:// | + | wget https://files.waveshare.com/upload/0/00/PicoGo_Code.zip |
unzip PicoGo_Code.zip | unzip PicoGo_Code.zip | ||
</pre> | </pre> | ||
| + | --> | ||
| + | ==MicroPython Demo== | ||
| + | Before running the MicroPython demo, you should download the MicroPython firmware on the Pico first, and then install Thonny IDE. Please Raspberry Pi when configuring the board environment. | ||
| + | |||
==='''Test Motors'''=== | ==='''Test Motors'''=== | ||
| − | *Open the motor.py in Thonny IDE, and run it<br /> | + | *Open the motor.py in Thonny IDE, and run it.<br /> |
| − | *The PicoGo will move forward, then backward, turn left and turn right after running the codes. | + | *The PicoGo will move forward, then backward, turn left, and turn right after running the codes. |
| − | <span style="color: red;">Note: You need to turn the power switch to ON, and make sure that the PicoGo has enough place to move</span> | + | <span style="color: red;">Note: You need to turn the power switch to ON, and make sure that the PicoGo has enough place to move.</span> |
| + | <!-- | ||
*Codes: | *Codes: | ||
<pre> | <pre> | ||
... | ... | ||
| − | M = PicoGo() #Instantiate the PicoGo class, which has defined the functions of motions (forward, backward, left, right stop and the intialiation. | + | M = PicoGo() #Instantiate the PicoGo class, which has defined the functions of motions (forward, backward, left, right stop, and the intialiation. |
M.forward(50) #Move the motor forward in half speed (0- 100) | M.forward(50) #Move the motor forward in half speed (0- 100) | ||
utime.sleep(0.5) #Set sleep time to let the Picogo keep moving for 0.5s | utime.sleep(0.5) #Set sleep time to let the Picogo keep moving for 0.5s | ||
| Line 34: | Line 42: | ||
M.stop() #Stop the motor | M.stop() #Stop the motor | ||
</pre> | </pre> | ||
| + | --> | ||
==='''Infrared Remote Control'''=== | ==='''Infrared Remote Control'''=== | ||
*Open the IRremote.py in ThonnyIDE and run it.<br /> | *Open the IRremote.py in ThonnyIDE and run it.<br /> | ||
| − | *Press the Infrared controller to control the PicoGo<br /> | + | *Press the Infrared controller to control the PicoGo.<br /> |
| − | * | + | *2, 8, 4, 6, 5 are used for forwarding, backward, turn left, turn right, and stop. You can press the - or + keys to adjust the speed and press EQ to restore the setting.<br /> |
*Different infrared remote controllers may have different key codes, if you use other controllers, you may need to modify the codes.<br /> | *Different infrared remote controllers may have different key codes, if you use other controllers, you may need to modify the codes.<br /> | ||
<span style="color: red;">Note: If you need to make the PicoGo run without cable, you need to rename the IRremote.py as main.py and save it to Raspberry Pi Pico. The codes also need to call the Motor.py, you need to save it to Raspberry Pi Pico as well.</span> | <span style="color: red;">Note: If you need to make the PicoGo run without cable, you need to rename the IRremote.py as main.py and save it to Raspberry Pi Pico. The codes also need to call the Motor.py, you need to save it to Raspberry Pi Pico as well.</span> | ||
| + | <!-- | ||
*Codes: | *Codes: | ||
<pre> | <pre> | ||
... | ... | ||
while True: | while True: | ||
| − | key = getkey() #use the getkey function to read the | + | key = getkey() #use the getkey function to read the signal of Infrared controller. |
if(key != None): | if(key != None): | ||
n = 0 | n = 0 | ||
| Line 78: | Line 88: | ||
if n > 800: | if n > 800: | ||
n = 0 | n = 0 | ||
| − | M.stop() #If the controller doesn't | + | M.stop() #If the controller doesn't operate for a certain time, stop the motors. |
</pre> | </pre> | ||
| + | --> | ||
=== '''Infrared Obstacle Avoidance''' === | === '''Infrared Obstacle Avoidance''' === | ||
| Line 86: | Line 97: | ||
*When there is no obstacle in front of the car, the green LED light in front of the car will be off. When the car meets an obstacle, the green LED light in front will be on.<br /> | *When there is no obstacle in front of the car, the green LED light in front of the car will be off. When the car meets an obstacle, the green LED light in front will be on.<br /> | ||
*If the LED light is not bright or keeps brightening, you can adjust two potentiometers on the bottom of the PicoGo, so that the LED is just out of state. The detection distance is the farthest.<br /> | *If the LED light is not bright or keeps brightening, you can adjust two potentiometers on the bottom of the PicoGo, so that the LED is just out of state. The detection distance is the farthest.<br /> | ||
| − | *Procedure phenomenon is no obstacle when the car straight, encountered obstacles when the car | + | *Procedure phenomenon is no obstacle when the car straight, encountered obstacles when the car turns right.<br /> |
| + | <!-- | ||
*Code: | *Code: | ||
<pre> | <pre> | ||
| Line 94: | Line 106: | ||
DL_status = DSL.value() # Read the value of the left Infrared sensor | DL_status = DSL.value() # Read the value of the left Infrared sensor | ||
| − | if((DL_status == 0) and (DR_status == 0)): #If the value of both the | + | if((DL_status == 0) and (DR_status == 0)): #If the value of both the sensors is 0, there is an obstacle on the front, turn left |
M.left(10) | M.left(10) | ||
| − | elif((DL_status == 0) and (DR_status == 1)): #If the DL value is 0 and the DR value is 1, there is | + | elif((DL_status == 0) and (DR_status == 1)): #If the DL value is 0 and the DR value is 1, there is an obstacle on the left side, turn right |
M.right(10) | M.right(10) | ||
| − | elif((DL_status == 1) and (DR_status == 0)): #If the DL value is 1 and the DR value is 0, there is | + | elif((DL_status == 1) and (DR_status == 0)): #If the DL value is 1 and the DR value is 0, there is an obstacle on the right side, turn left. |
M.left(10) | M.left(10) | ||
else: | else: | ||
| − | M.forward(20) #else, there is no | + | M.forward(20) #else, there is no obstacle, keep moving forward. |
utime.sleep_ms(10) | utime.sleep_ms(10) | ||
</pre> | </pre> | ||
| + | --> | ||
| + | |||
=== '''Ultrasonic Ranging''' === | === '''Ultrasonic Ranging''' === | ||
*Open the Ultrasionc_Ranging.py in Thonny IDE, the detected distance will be shown on the shell.<br /> | *Open the Ultrasionc_Ranging.py in Thonny IDE, the detected distance will be shown on the shell.<br /> | ||
*Because the ultrasonic wave will be reflected, the front side of the obstacle plane is not in front of the ultrasonic wave but with the ultrasonic wave formed an Angle of the measured distance may be inaccurate.<br /> | *Because the ultrasonic wave will be reflected, the front side of the obstacle plane is not in front of the ultrasonic wave but with the ultrasonic wave formed an Angle of the measured distance may be inaccurate.<br /> | ||
[[File:PicoGo-01.png|700px]] | [[File:PicoGo-01.png|700px]] | ||
| + | <!-- | ||
*Codes: | *Codes: | ||
<pre> | <pre> | ||
... | ... | ||
| − | def dist(): #Function to read the sensor data and | + | def dist(): #Function to read the sensor data and calculate the distance |
Trig.value(1) | Trig.value(1) | ||
utime.sleep_us(10) | utime.sleep_us(10) | ||
| Line 130: | Line 145: | ||
utime.sleep(1) | utime.sleep(1) | ||
</pre> | </pre> | ||
| + | --> | ||
| + | |||
=== '''Ultrasonic Obstacle Avoidance''' === | === '''Ultrasonic Obstacle Avoidance''' === | ||
| − | *Open the | + | *Open the Ultrasonic-Obstacle-Avoidance.py in Thonny IDE, rename it as main.py, and save it to Raspberry Pi Pico.<br /> |
*Run the program after disconnecting the USB cable. Go straight when there is no obstacle, and turn right when there is an obstacle.<br /> | *Run the program after disconnecting the USB cable. Go straight when there is no obstacle, and turn right when there is an obstacle.<br /> | ||
| + | <!-- | ||
| + | *Codes: | ||
| + | <pre> | ||
| + | ... | ||
| + | def dist(): #Function for reading data of Ultrasonic sensor and calculate the distance | ||
| + | Trig.value(1) | ||
| + | utime.sleep_us(10) | ||
| + | Trig.value(0) | ||
| + | while(Echo.value() == 0): | ||
| + | pass | ||
| + | ts=utime.ticks_us() | ||
| + | while(Echo.value() == 1): | ||
| + | pass | ||
| + | te=utime.ticks_us() | ||
| + | distance=((te-ts)*0.034)/2 | ||
| + | return distance | ||
| + | |||
| + | while True: | ||
| + | D = dist() #read the distance data | ||
| + | if(D <= 20): #Turn right if there the distance of the obstacle is shorter than 20 | ||
| + | M.right(20) | ||
| + | #Ab.left() | ||
| + | else: #else keep moving forward | ||
| + | M.forward(20) | ||
| + | |||
| + | utime.sleep_ms(20) | ||
| + | </pre> | ||
| + | --> | ||
=== '''Ultrasonic Infrared Obstacle Avoidance''' === | === '''Ultrasonic Infrared Obstacle Avoidance''' === | ||
| − | *Open the Ultrasionc-Infrared-Obstacle-Avoidance.py in Thonny, rename it as main.py, and save it to Raspberry Pi Pico<br /> | + | *Open the Ultrasionc-Infrared-Obstacle-Avoidance.py in Thonny, rename it as main.py, and save it to Raspberry Pi Pico.<br /> |
*Run the program after disconnecting the USB cable. Go straight when there is no obstacle, and turn right when there is an obstacle. The combination of ultrasonic and infrared has a better obstacle avoidance effect and a higher success rate.<br /> | *Run the program after disconnecting the USB cable. Go straight when there is no obstacle, and turn right when there is an obstacle. The combination of ultrasonic and infrared has a better obstacle avoidance effect and a higher success rate.<br /> | ||
| + | <!-- | ||
| + | *Codes: | ||
| + | <pre> | ||
| + | ... | ||
| + | while True: | ||
| + | D = dist() #read the distance data of the Ultrasonic sensor | ||
| + | DR_status = DSR.value() #read the distance data of the right Infrared sensor | ||
| + | DL_status = DSL.value() #read the distance data of the left Infrared sensor | ||
| + | if((D <= 20) or (DL_status == 0) or (DR_status == 0)): #If there is obstacle detected, turn right | ||
| + | M.right(20) | ||
| + | #Ab.left() | ||
| + | else: | ||
| + | M.forward(40) #else, keep moving forward. | ||
| + | |||
| + | utime.sleep_ms(20) | ||
| + | |||
| + | </pre> | ||
| + | --> | ||
=== '''RGB LED''' === | === '''RGB LED''' === | ||
*Open the WS2812.py in Thonny and run it.<br /> | *Open the WS2812.py in Thonny and run it.<br /> | ||
| − | *Four colored LED lights at the bottom of the car will show red, yellow, green, | + | *Four colored LED lights at the bottom of the car will show red, yellow, green, cyan, blue, purple, and white, and then show the color light effect.<br /> |
| + | <!-- | ||
| + | *Codes: | ||
| + | <pre> | ||
| + | ... | ||
| + | if __name__=='__main__': | ||
| + | strip = NeoPixel() #instantiate the NeoPizel class which is used to initial the LED controller and set LED | ||
| + | print("fills") | ||
| + | for color in strip.COLORS: #Set the LED to show color in the loop (BLACK, RED, GREEN, CYAN, BLUE, PURPLE, WHITE) | ||
| + | strip.pixels_fill(color) #Set the LED color | ||
| + | strip.pixels_show() # Turn on the RGB LED | ||
| + | time.sleep(0.5) | ||
| + | |||
| + | print("chases") | ||
| + | for color in strip.COLORS: #Turn on the RGB LED one by one | ||
| + | strip.color_chase(color, 0.05) | ||
| + | |||
| + | print("rainbow") #Change the color in a loop like a rainbow | ||
| + | while(1): | ||
| + | strip.rainbow_cycle(0.02) | ||
| + | </pre> | ||
| + | --> | ||
=== '''1.14inch LCD''' === | === '''1.14inch LCD''' === | ||
*Open the ST7789.py in Thonny IDE and run it.<br /> | *Open the ST7789.py in Thonny IDE and run it.<br /> | ||
| − | *After the program runs normally, LCD will display the string.<br /> | + | *After the program runs normally, LCD will display the string.<br/> |
| + | <!-- | ||
| + | *Codes: | ||
| + | <pre> | ||
| + | ... | ||
| + | if __name__=='__main__': | ||
| + | lcd = ST7789() #instantiate the function of LCD controlling | ||
| + | lcd.fill(0xFFFF) #Set the backlight color | ||
| + | lcd.show() #display | ||
| + | lcd.text("Raspberry Pi Pico",10,5,0xFF00) #Draw text on the buffer with coordination 10(x), 5(y) | ||
| + | lcd.text("PicoGo",10,15) #Draw text on the buffer | ||
| + | lcd.text("Waveshare.com",10,25,0x07E0) #Draw text on the buffer | ||
| + | lcd.show() #Display the content from the buffer | ||
| + | </pre> | ||
| + | --> | ||
=== '''Battery Voltage Detection''' === | === '''Battery Voltage Detection''' === | ||
*Open the Battery_Voltage.py in Thonny IDE and run it.<br /> | *Open the Battery_Voltage.py in Thonny IDE and run it.<br /> | ||
| − | *LCD will display chip temperature, battery voltage, power percentage. The percentage of electric quantity is obtained by simple linear conversion of voltage. The actual battery voltage and electric quantity are not linear, so there will be some | + | *LCD will display chip temperature, battery voltage, and power percentage. The percentage of electric quantity is obtained by simple linear conversion of voltage. The actual battery voltage and electric quantity are not linear, so there will be some errors in this percentage.<br /> |
| + | <!-- | ||
| + | *Codes: | ||
| + | <pre> | ||
| + | ... | ||
| + | while (1): | ||
| + | utime.sleep(1) | ||
| + | reading = temp.read_u16() * 3.3 / (65535) #Read the temperature data from register | ||
| + | temperature = 27 - (reading - 0.706)/0.001721 #calculate the temperature data | ||
| + | v = bat.read_u16()*3.3/65535 * 2 #Read the voltage data from register | ||
| + | p = (v - 3) * 100 / 1.2 #Calculat the battery data | ||
| + | if(p < 0):p=0 | ||
| + | if(p > 100):p=100 | ||
| + | |||
| + | lcd.fill_rect(145,50,65,40,0xF232) #Display the temperature, voltage, and battery data to LCD, | ||
| + | lcd.text("temperature : {:5.2f} C".format(temperature),30,50,0xFFFF) #use the ST7789.py as libraries | ||
| + | lcd.text("Voltage : {:5.2f} V".format(v),30,65,0xFFFF) | ||
| + | lcd.text("percent : {:3.1f} %".format(p),30,80,0xFFFF) | ||
| + | |||
| + | lcd.show() | ||
| + | </pre> | ||
| + | --> | ||
=== '''Tracking Sensor Test''' === | === '''Tracking Sensor Test''' === | ||
| Line 154: | Line 273: | ||
*The shell interface will display the values of the five tracking sensors. The data range is 600~900 when the PicoGo is put on the white paper, and the data range is 0~50 when the PicoGo is put in the air.<br /> | *The shell interface will display the values of the five tracking sensors. The data range is 600~900 when the PicoGo is put on the white paper, and the data range is 0~50 when the PicoGo is put in the air.<br /> | ||
[[File:PicoGo-02.png|700px]] | [[File:PicoGo-02.png|700px]] | ||
| + | <!-- | ||
| + | *Codes: | ||
| + | <pre> | ||
| + | ... | ||
| + | if __name__ == '__main__': | ||
| + | |||
| + | print("\nTRSensor Test Program ...\r\n") | ||
| + | TRS=TRSensor() #Instantiate the TRSensor class, which features functions of read analog data and calibrates... | ||
| + | while True: | ||
| + | print(TRS.AnalogRead()) #Print the analog data red | ||
| + | time.sleep(0.1) | ||
| + | </pre> | ||
| + | --> | ||
=== '''Infrared Tracking''' === | === '''Infrared Tracking''' === | ||
*Open the Line-Tracking.py file in Thonny IDE, rename it as main.py, and save it to Raspberry Pi Pico.<br /> | *Open the Line-Tracking.py file in Thonny IDE, rename it as main.py, and save it to Raspberry Pi Pico.<br /> | ||
| − | *Tracking sensor can detect black | + | *Tracking sensor can detect black lines with a white background (or white lines with a black background, need to modify program).<br /> |
| − | *The tracking board can be made by sticking black tape in the white KT board. The width of the black track is | + | *The tracking board can be made by sticking black tape in the white KT board. The width of the black track is 15mm. If the background color is too dark, the tracking effect will be affected.<br /> |
| − | *After disconnecting the USB cable, | + | *After disconnecting the USB cable, running the demo, and putting the car in the black line, the car will rotate left and right, this is the car calibration stage. If the calibration phase operation error will directly affect the tracking effect.<br /> |
| + | <!-- | ||
| + | *Codes: | ||
| + | <pre> | ||
| + | ... | ||
| + | while True: | ||
| + | #print(TRS.readCalibrated()) | ||
| + | #print(TRS.readLine()) | ||
| + | position,Sensors = TRS.readLine() #Use the TRsensor.py as libraries function, read the data of the Infrared tracking sensor | ||
| + | #time.sleep(0.1) | ||
| + | if((Sensors[0] + Sensors[1] + Sensors[2]+ Sensors[3]+ Sensors[4]) > 4000): #Check the data of sensors | ||
| + | M.setMotor(0,0) | ||
| + | else: | ||
| + | # The "proportional" term should be 0 when we are on the line. | ||
| + | proportional = position - 2000 | ||
| + | |||
| + | # Compute the derivative (change) and integral (sum) of the position. | ||
| + | derivative = proportional - last_proportional | ||
| + | integral += proportional | ||
| + | |||
| + | # Remember the last position. | ||
| + | last_proportional = proportional | ||
| + | |||
| + | ''' | ||
| + | // Compute the difference between the two motor power settings, | ||
| + | // m1 - m2. If this is a positive number the robot will turn | ||
| + | // to the right. If it is a negative number, the robot will | ||
| + | // turn to the left, and the magnitude of the number determines | ||
| + | // the sharpness of the turn. You can adjust the constants by which | ||
| + | // the proportional, integral, and derivative terms are multiplied to | ||
| + | // improve performance. | ||
| + | ''' | ||
| + | power_difference = proportional/30 + derivative*2; | ||
| + | |||
| + | if (power_difference > maximum): | ||
| + | power_difference = maximum | ||
| + | if (power_difference < - maximum): | ||
| + | power_difference = - maximum | ||
| + | |||
| + | if (power_difference < 0): | ||
| + | M.setMotor(maximum + power_difference, maximum) | ||
| + | else: | ||
| + | M.setMotor(maximum, maximum - power_difference) | ||
| + | |||
| + | |||
| + | </pre> | ||
| + | --> | ||
=== '''Infrared Tracking-Integrated''' === | === '''Infrared Tracking-Integrated''' === | ||
| − | *Open a Line-Tracking2.py in Thonny IDE, rename it as main.py, and save it to Raspberry Pi Pico<br /> | + | *Open a Line-Tracking2.py in Thonny IDE, rename it as main.py, and save it to Raspberry Pi Pico.<br /> |
| − | *After disconnecting the USB cable, | + | *After disconnecting the USB cable, running the program, and putting the car in the black line, the car will rotate left and right to calibrate. After calibration, the black line will be run.<br /> |
*When there is an obstacle in front of the car, the car will stop and the buzzer will sound. After the obstacle is cleared, the car will continue to run. Pick up the car and the motor will stop.<br /> | *When there is an obstacle in front of the car, the car will stop and the buzzer will sound. After the obstacle is cleared, the car will continue to run. Pick up the car and the motor will stop.<br /> | ||
*During the calibration stage of the car, the four RGBS display red, green, and blue respectively. Change. The RGB LED will display the color light effect when tracking is running.<br /> | *During the calibration stage of the car, the four RGBS display red, green, and blue respectively. Change. The RGB LED will display the color light effect when tracking is running.<br /> | ||
| + | <!-- | ||
| + | *Codes: | ||
| + | <pre> | ||
| + | ... | ||
| + | #This following function combines the Infrared sensor to detect obstacles while following the line. | ||
| + | while True: | ||
| + | position,Sensors = TRS.readLine() | ||
| + | DR_status = DSR.value() | ||
| + | DL_status = DSL.value() | ||
| + | |||
| + | if((Sensors[0] + Sensors[1] + Sensors[2]+ Sensors[3]+ Sensors[4]) > 4000): | ||
| + | Buzzer.value(0) | ||
| + | M.setMotor(0,0) | ||
| + | elif((DL_status == 0) or (DR_status == 0)): | ||
| + | Buzzer.value(1) | ||
| + | M.setMotor(0,0) | ||
| + | else: | ||
| + | Buzzer.value(0) | ||
| + | # The "proportional" term should be 0 when we are on the line. | ||
| + | proportional = position - 2000 | ||
| + | |||
| + | # Compute the derivative (change) and integral (sum) of the position. | ||
| + | derivative = proportional - last_proportional | ||
| + | #integral += proportional | ||
| + | |||
| + | # Remember the last position. | ||
| + | last_proportional = proportional | ||
| + | |||
| + | ''' | ||
| + | // Compute the difference between the two motor power settings, | ||
| + | // m1 - m2. If this is a positive number the robot will turn | ||
| + | // to the right. If it is a negative number, the robot will | ||
| + | // turn to the left and the magnitude of the number determines | ||
| + | // the sharpness of the turn. You can adjust the constants by which | ||
| + | // the proportional, integral, and derivative terms are multiplied to | ||
| + | // improve performance. | ||
| + | ''' | ||
| + | power_difference = proportional/30 + derivative*2; | ||
| + | |||
| + | if (power_difference > maximum): | ||
| + | power_difference = maximum | ||
| + | if (power_difference < - maximum): | ||
| + | power_difference = - maximum | ||
| + | |||
| + | if (power_difference < 0): | ||
| + | M.setMotor(maximum + power_difference, maximum) | ||
| + | else: | ||
| + | M.setMotor(maximum, maximum - power_difference) | ||
| + | |||
| + | for i in range(strip.num): | ||
| + | strip.pixels_set(i, strip.wheel(((i * 256 // strip.num) + j) & 255)) | ||
| + | strip.pixels_show() | ||
| + | j += 1 | ||
| + | if(j > 256): | ||
| + | j = 0 | ||
| + | </pre> | ||
| + | --> | ||
=== '''Ultrasonic Infrared Following ''' === | === '''Ultrasonic Infrared Following ''' === | ||
| − | *Open the Ultrasionc-Infrared-follow.py in Thonny, rename it as main.py and save it to Raspberry Pi Pico.<br /> | + | *Open the Ultrasionc-Infrared-follow.py in Thonny, rename it as main.py, and save it to Raspberry Pi Pico.<br /> |
| − | *Run the program after disconnecting the USB cable, place the object in the sensor of the car, the car will automatically follow the object to move.<br /> | + | *Run the program after disconnecting the USB cable, place the object in the sensor of the car, and the car will automatically follow the object to move.<br /> |
| − | *The following distance of the car can be set, the default following distance is 5cm, the car will stop when it is 5cm away from the object, the car will continue to run when it is larger than 5cm and smaller than 7cm.<br /> | + | *The following distance of the car can be set, the default following distance is 5cm, the car will stop when it is 5cm away from the object, and the car will continue to run when it is larger than 5cm and smaller than 7cm.<br /> |
*Turn left and right by infrared.<br /> | *Turn left and right by infrared.<br /> | ||
*When the car is running, the RGB LED will display the color light effect.<br /> | *When the car is running, the RGB LED will display the color light effect.<br /> | ||
| + | <!-- | ||
| + | *Codes: | ||
| + | <pre> | ||
| + | ... | ||
| + | #Combine Ultrasonic and infrares sensor to follow lines and obstacing, the LCD is used to display text | ||
| + | while True: | ||
| + | |||
| + | D = dist() | ||
| + | # print("Distance:%6.2f cm" % dist()) | ||
| + | # utime.sleep(1) | ||
| + | DR_status = DSR.value() | ||
| + | DL_status = DSL.value() | ||
| + | |||
| + | if((utime.ticks_ms() - t) > 3000): | ||
| + | t=utime.ticks_ms() | ||
| + | reading = temp.read_u16() * 3.3 / (65535) | ||
| + | temperature = 27 - (reading - 0.706)/0.001721 | ||
| + | v = bat.read_u16()*3.3/65535 * 2 | ||
| + | p = (v - 3) * 100 / 1.2 | ||
| + | if(p < 0):p=0 | ||
| + | if(p > 100):p=100 | ||
| + | |||
| + | lcd.fill_rect(145,50,50,40,0xF232) | ||
| + | lcd.text("temperature : {:5.2f} C".format(temperature),30,50,0xFFFF) | ||
| + | lcd.text("Voltage : {:5.2f} V".format(v),30,65,0xFFFF) | ||
| + | lcd.text("percent : {:3.1f} %".format(p),30,80,0xFFFF) | ||
| + | lcd.show() | ||
| + | print(D) | ||
| + | if(D<5): | ||
| + | M.stop() | ||
| + | elif((DL_status == 0) and (DR_status == 1)): | ||
| + | M.left(20) | ||
| + | elif((DL_status == 1) and (DR_status == 0)): | ||
| + | M.right(20) | ||
| + | elif(((D>5) and( D<7)) or ((DL_status == 0) and (DR_status == 0))): | ||
| + | M.forward(30) | ||
| + | else: | ||
| + | M.stop() | ||
| + | |||
| + | utime.sleep_ms(20) | ||
| + | |||
| + | |||
| + | for i in range(strip.num): | ||
| + | strip.pixels_set(i, strip.wheel(((i * 256 // strip.num) + j) & 255)) | ||
| + | strip.pixels_show() | ||
| + | j += 1 | ||
| + | if(j > 256): | ||
| + | j = 0 | ||
| + | </pre> | ||
| + | --> | ||
=== '''Bluetooth Remote Control''' === | === '''Bluetooth Remote Control''' === | ||
| − | *Open the bluetooth.py in the Thonny IDE, rename it as main.py, and save it to Raspberry Pi Pico<br /> | + | *Open the bluetooth.py in the Thonny IDE, rename it as main.py, and save it to Raspberry Pi Pico.<br /> |
| − | *Install [https:// | + | *Install [https://files.waveshare.com/upload/0/00/PicoGo_Code.zip PicoGo APP] in your phone (only supports Android).<br /> |
*Start the APP, select Bluetooth control, and click "Search" in the upper right corner. After about a few seconds, the corresponding Bluetooth device will be displayed in the list normally.<br /> | *Start the APP, select Bluetooth control, and click "Search" in the upper right corner. After about a few seconds, the corresponding Bluetooth device will be displayed in the list normally.<br /> | ||
[[File:PicoGo-03.png|500px]]<br /> | [[File:PicoGo-03.png|500px]]<br /> | ||
| − | *Select jDY-33-SPP. If you select "JDy-33-ble", the connection to the device will fail. Go to the next page and select remote Control<br /> | + | *Select jDY-33-SPP. If you select "JDy-33-ble", the connection to the device will fail. Go to the next page and select remote Control.<br /> |
| − | [[File:PicoGo- | + | [[File:PicoGo-4.png|400px]]<br /> |
| − | *Press the button to control the car, but also can control the buzzer sound, and RGB LED | + | *Press the button to control the car, but also can control the buzzer sound, and RGB LED displays different colors.<br /> |
| + | <!-- | ||
| + | *Codes: | ||
| + | <pre> | ||
| + | ... | ||
| + | while True: | ||
| + | s=uart.read() #Use a serial port to read the data from the Bluetooth module | ||
| + | if(s != None): | ||
| + | try: | ||
| + | j=ujson.loads(s) #use ujson librariries to handle the bluetooth data | ||
| + | #print(j) | ||
| + | |||
| + | cmd=j.get("Forward") | ||
| + | if cmd != None: | ||
| + | if cmd == "Down": | ||
| + | M.forward(speed) | ||
| + | uart.write("{\"State\":\"Forward\"}") | ||
| + | elif cmd == "Up": | ||
| + | M.stop() | ||
| + | uart.write("{\"State\":\"Stop\"}") | ||
| + | |||
| + | cmd = j.get("Backward") | ||
| + | if cmd != None: | ||
| + | if cmd == "Down": | ||
| + | M.backward(speed) | ||
| + | uart.write("{\"State\":\"Backward\"}") | ||
| + | elif cmd == "Up": | ||
| + | M.stop() | ||
| + | uart.write("{\"State\":\"Stop\"}") | ||
| + | |||
| + | cmd = j.get("Left") | ||
| + | if cmd != None: | ||
| + | if cmd == "Down": | ||
| + | M.left(20) | ||
| + | uart.write("{\"State\":\"Left\"}") | ||
| + | elif cmd == "Up": | ||
| + | M.stop() | ||
| + | uart.write("{\"State\":\"Stop\"}") | ||
| + | |||
| + | cmd = j.get("Right") | ||
| + | if cmd != None: | ||
| + | if cmd == "Down": | ||
| + | M.right(20) | ||
| + | uart.write("{\"State\":\"Right\"}") | ||
| + | elif cmd == "Up": | ||
| + | M.stop() | ||
| + | uart.write("{\"State\":\"Stop\"}") | ||
| + | |||
| + | cmd = j.get("Low") | ||
| + | if cmd == "Down": | ||
| + | uart.write("{\"State\":\"Low\"}") | ||
| + | speed = 30 | ||
| + | |||
| + | cmd = j.get("Medium") | ||
| + | if cmd == "Down": | ||
| + | uart.write("{\"State\":\"Medium\"}") | ||
| + | speed = 50 | ||
| + | |||
| + | cmd = j.get("High") | ||
| + | if cmd == "Down": | ||
| + | uart.write("{\"State\":\"High\"}") | ||
| + | speed = 100 | ||
| + | |||
| + | cmd = j.get("BZ") | ||
| + | if cmd != None: | ||
| + | if cmd == "on": | ||
| + | BUZ.value(1) | ||
| + | uart.write("{\"BZ\":\"ON\"}") | ||
| + | uart.write("{\"State\":\"BZ:\ON\"}") | ||
| + | elif cmd == "off": | ||
| + | BUZ.value(0) | ||
| + | uart.write("{\"BZ\":\"OFF\"}") | ||
| + | uart.write("{\"State\":\"BZ:\OFF\"}") | ||
| + | |||
| + | cmd = j.get("LED") | ||
| + | if cmd != None: | ||
| + | if cmd == "on": | ||
| + | led.value(1) | ||
| + | uart.write("{\"LED\":\"ON\"}") | ||
| + | uart.write("{\"State\":\"LED:\ON\"}") | ||
| + | elif cmd == "off": | ||
| + | led.value(0) | ||
| + | uart.write("{\"LED\":\"OFF\"}") | ||
| + | uart.write("{\"State\":\"LED:\OFF\"}") | ||
| + | |||
| + | cmd = j.get("RGB") | ||
| + | if cmd != None: | ||
| + | rgb=tuple(eval(cmd)) | ||
| + | strip.pixels_set(0, rgb) | ||
| + | strip.pixels_set(1, rgb) | ||
| + | strip.pixels_set(2, rgb) | ||
| + | strip.pixels_set(3, rgb) | ||
| + | strip.pixels_show() | ||
| + | uart.write("{\"State\":\"RGB:\("+cmd+")\"}") | ||
| + | except: | ||
| + | print("err") | ||
| + | ... | ||
| + | </pre> | ||
| + | --> | ||
Latest revision as of 02:53, 25 September 2023
MicroPython Demo
Before running the MicroPython demo, you should download the MicroPython firmware on the Pico first, and then install Thonny IDE. Please Raspberry Pi when configuring the board environment.
Test Motors
- Open the motor.py in Thonny IDE, and run it.
- The PicoGo will move forward, then backward, turn left, and turn right after running the codes.
Note: You need to turn the power switch to ON, and make sure that the PicoGo has enough place to move.
Infrared Remote Control
- Open the IRremote.py in ThonnyIDE and run it.
- Press the Infrared controller to control the PicoGo.
- 2, 8, 4, 6, 5 are used for forwarding, backward, turn left, turn right, and stop. You can press the - or + keys to adjust the speed and press EQ to restore the setting.
- Different infrared remote controllers may have different key codes, if you use other controllers, you may need to modify the codes.
Note: If you need to make the PicoGo run without cable, you need to rename the IRremote.py as main.py and save it to Raspberry Pi Pico. The codes also need to call the Motor.py, you need to save it to Raspberry Pi Pico as well.
Infrared Obstacle Avoidance
- Open the Infrared-Obstacle-Avoidance.py in Thonny IDE, rename it as main.py, and save it to Pico. Disconnect the USB cable and run it.
- When there is no obstacle in front of the car, the green LED light in front of the car will be off. When the car meets an obstacle, the green LED light in front will be on.
- If the LED light is not bright or keeps brightening, you can adjust two potentiometers on the bottom of the PicoGo, so that the LED is just out of state. The detection distance is the farthest.
- Procedure phenomenon is no obstacle when the car straight, encountered obstacles when the car turns right.
Ultrasonic Ranging
- Open the Ultrasionc_Ranging.py in Thonny IDE, the detected distance will be shown on the shell.
- Because the ultrasonic wave will be reflected, the front side of the obstacle plane is not in front of the ultrasonic wave but with the ultrasonic wave formed an Angle of the measured distance may be inaccurate.
Ultrasonic Obstacle Avoidance
- Open the Ultrasonic-Obstacle-Avoidance.py in Thonny IDE, rename it as main.py, and save it to Raspberry Pi Pico.
- Run the program after disconnecting the USB cable. Go straight when there is no obstacle, and turn right when there is an obstacle.
Ultrasonic Infrared Obstacle Avoidance
- Open the Ultrasionc-Infrared-Obstacle-Avoidance.py in Thonny, rename it as main.py, and save it to Raspberry Pi Pico.
- Run the program after disconnecting the USB cable. Go straight when there is no obstacle, and turn right when there is an obstacle. The combination of ultrasonic and infrared has a better obstacle avoidance effect and a higher success rate.
RGB LED
- Open the WS2812.py in Thonny and run it.
- Four colored LED lights at the bottom of the car will show red, yellow, green, cyan, blue, purple, and white, and then show the color light effect.
1.14inch LCD
- Open the ST7789.py in Thonny IDE and run it.
- After the program runs normally, LCD will display the string.
Battery Voltage Detection
- Open the Battery_Voltage.py in Thonny IDE and run it.
- LCD will display chip temperature, battery voltage, and power percentage. The percentage of electric quantity is obtained by simple linear conversion of voltage. The actual battery voltage and electric quantity are not linear, so there will be some errors in this percentage.
Tracking Sensor Test
- Open the TRsensor.py in Thonny IDE and run it.
- The shell interface will display the values of the five tracking sensors. The data range is 600~900 when the PicoGo is put on the white paper, and the data range is 0~50 when the PicoGo is put in the air.
Infrared Tracking
- Open the Line-Tracking.py file in Thonny IDE, rename it as main.py, and save it to Raspberry Pi Pico.
- Tracking sensor can detect black lines with a white background (or white lines with a black background, need to modify program).
- The tracking board can be made by sticking black tape in the white KT board. The width of the black track is 15mm. If the background color is too dark, the tracking effect will be affected.
- After disconnecting the USB cable, running the demo, and putting the car in the black line, the car will rotate left and right, this is the car calibration stage. If the calibration phase operation error will directly affect the tracking effect.
Infrared Tracking-Integrated
- Open a Line-Tracking2.py in Thonny IDE, rename it as main.py, and save it to Raspberry Pi Pico.
- After disconnecting the USB cable, running the program, and putting the car in the black line, the car will rotate left and right to calibrate. After calibration, the black line will be run.
- When there is an obstacle in front of the car, the car will stop and the buzzer will sound. After the obstacle is cleared, the car will continue to run. Pick up the car and the motor will stop.
- During the calibration stage of the car, the four RGBS display red, green, and blue respectively. Change. The RGB LED will display the color light effect when tracking is running.
Ultrasonic Infrared Following
- Open the Ultrasionc-Infrared-follow.py in Thonny, rename it as main.py, and save it to Raspberry Pi Pico.
- Run the program after disconnecting the USB cable, place the object in the sensor of the car, and the car will automatically follow the object to move.
- The following distance of the car can be set, the default following distance is 5cm, the car will stop when it is 5cm away from the object, and the car will continue to run when it is larger than 5cm and smaller than 7cm.
- Turn left and right by infrared.
- When the car is running, the RGB LED will display the color light effect.
Bluetooth Remote Control
- Open the bluetooth.py in the Thonny IDE, rename it as main.py, and save it to Raspberry Pi Pico.
- Install PicoGo APP in your phone (only supports Android).
- Start the APP, select Bluetooth control, and click "Search" in the upper right corner. After about a few seconds, the corresponding Bluetooth device will be displayed in the list normally.
- Select jDY-33-SPP. If you select "JDy-33-ble", the connection to the device will fail. Go to the next page and select remote Control.
- Press the button to control the car, but also can control the buzzer sound, and RGB LED displays different colors.