-
Notifications
You must be signed in to change notification settings - Fork 1
/
pico_hammer_hitter.py
95 lines (70 loc) · 2.15 KB
/
pico_hammer_hitter.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
from machine import Pin, PWM
from utime import sleep, ticks_ms, ticks_diff
def get_seconds(start_ms):
# print(start_ms)
seconds = round(ticks_diff(ticks_ms(), start_ms)/1000 * 1000) /1000
return seconds
def hit_hammer(encoder_count):
print("================================")
start_ms = ticks_ms()
pwm.duty_ns(8000000)
prevA = encoderA.value()
# total_count = 1920 / 2 * 5
total_count = 4750 / 5 * 5
done = False
extra_seconds = 1
while True:
if get_seconds(start_ms) % 1 == 0:
print(get_seconds(start_ms))
currA = encoderA.value()
if currA == low and prevA == high:
encoder_count+=1
# if encoder_count % 10 == 0:
# print(encoder_count)
prevA = currA
if encoder_count % total_count == 0 and not done:
done = True
pwm.duty_ns(0)
print("CHANGING+++++++++++++++++")
print("time = 0")
start_ms = ticks_ms()
if done and get_seconds(start_ms) > extra_seconds:
return encoder_count
print("starting")
hammer_pin1 = Pin(7, Pin.OUT)
hammer_pin2 = Pin(8, Pin.OUT)
hammer_pin3 = Pin(9, Pin.OUT)
encoderA = Pin(14, Pin.IN)
encoderB = Pin(15, Pin.IN)
pwm = PWM(hammer_pin3)
pwm.freq(50)
pwm.duty_ns(0)
encoder_count = 1
hammer_pin1.high()
hammer_pin2.low()
# pin_out = Pin(6, Pin.OUT)
pwm_pin_in = Pin(27, Pin.IN)
led_pin = Pin(28, Pin.IN)
i = 0
prev_vol = 0
prev_pos = "down"
high_count = 0
high = 1
low = 0
threshold = 20
while True:
# print("going#)
curr_vol = pwm_pin_in.value()
if curr_vol == high and prev_vol == high:
high_count+=1
elif curr_vol == low and prev_vol == high:
curr_pos = "up" if high_count > threshold else "down"
high_count = 0
if curr_pos != prev_pos:
print(curr_pos)
prev_pos = curr_pos
if curr_pos == "down":
encoder_count = hit_hammer(encoder_count)
pass
# print(curr_pos)
prev_vol = curr_vol