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# Brick to brick remote control program. Run this on the remote control steering wheel. | |
# (c) 2021 Anton's Mindstorms & Ste7an | |
# TO STOP THIS SCRIPT ALWAYS USE THE BUTTON ON THE HUB. | |
# AVOID THE STOP BUTTON IN THE MINDSTORSM APP! | |
# Building instructions here: | |
# https://antonsmindstorms.com/product/remote-control-steering-wheel-with-spike-prime/ | |
# Use with the the car script here: | |
# https://gist.github.com/antonvh/88548d95e771043662f038de451e28f2 | |
# Most of it is library bluetooth code. | |
# Scroll to line 360 for the core program. | |
# Finds a robot with bluetooth peripheral service, advertising under the default name 'robot' | |
# After connicting this script sends a bytestring with joystick positions 30 times per second. | |
# Format "bbbbBBiiB", l_stick_hor, l_stick_ver, r_stick_hor, r_stick_ver, l_trigger, r_trigger, setting1, setting2, buttons_char | |
# ===== This should probably go into an import one day ===== # | |
import bluetooth | |
import random | |
import struct | |
import time | |
import micropython | |
import ubinascii | |
from hub import display, Image | |
from micropython import const | |
# Used irqs: _IRQ_SCAN_DONE, _IRQ_SCAN_RESULT, _IRQ_PERIPHERAL_CONNECT, _IRQ_PERIPHERAL_DISCONNECT, | |
# _IRQ_GATTC_SERVICE_RESULT, _IRQ_GATTC_SERVICE_DONE, _IRQ_GATTC_CHARACTERISTIC_RESULT, | |
# _IRQ_GATTC_WRITE_DONE, _IRQ_GATTC_NOTIFY, _IRQ_GATTC_READ_RESULT | |
_IRQ_GATTC_SERVICE_DONE = const(10) | |
_IRQ_GATTC_WRITE_DONE = const(17) | |
if 'FLAG_INDICATE' in dir(bluetooth): | |
# We're on MINDSTORMS Robot Inventor | |
# New version of bluetooth | |
_IRQ_SCAN_RESULT = 5 | |
_IRQ_SCAN_DONE = 6 | |
_IRQ_PERIPHERAL_CONNECT = 7 | |
_IRQ_PERIPHERAL_DISCONNECT = 8 | |
_IRQ_GATTC_SERVICE_RESULT = 9 | |
_IRQ_GATTC_CHARACTERISTIC_RESULT = 11 | |
_IRQ_GATTC_READ_RESULT = 15 | |
_IRQ_GATTC_NOTIFY = 18 | |
_IRQ_GATTC_CHARACTERISTIC_DONE = 12 | |
else: | |
# We're probably on SPIKE Prime | |
_IRQ_SCAN_RESULT = 1 << 4 | |
_IRQ_SCAN_DONE = 1 << 5 | |
_IRQ_PERIPHERAL_CONNECT = 1 << 6 | |
_IRQ_PERIPHERAL_DISCONNECT = 1 << 7 | |
_IRQ_GATTC_SERVICE_RESULT = 1 << 8 | |
_IRQ_GATTC_CHARACTERISTIC_RESULT = 1 << 9 | |
_IRQ_GATTC_READ_RESULT = 1 << 11 | |
_IRQ_GATTC_NOTIFY = 1 << 13 | |
_IRQ_GATTC_CHARACTERISTIC_DONE = 1 << 12 | |
_NOTIFY_ENABLE = const(1) | |
_INDICATE_ENABLE = const(2) | |
_UART_UUID = bluetooth.UUID("6E400001-B5A3-F393-E0A9-E50E24DCCA9E") | |
_UART_TX = bluetooth.UUID("6E400003-B5A3-F393-E0A9-E50E24DCCA9E") | |
_UART_RX = bluetooth.UUID("6E400002-B5A3-F393-E0A9-E50E24DCCA9E") | |
# Advertising payloads are repeated packets of the following form: | |
#1 byte data length (N + 1) | |
#1 byte type (see constants below) | |
#N bytes type-specific data | |
_ADV_TYPE_FLAGS = const(0x01) | |
_ADV_TYPE_NAME = const(0x09) | |
_ADV_TYPE_UUID16_COMPLETE = const(0x3) | |
_ADV_TYPE_UUID32_COMPLETE = const(0x5) | |
_ADV_TYPE_UUID128_COMPLETE = const(0x7) | |
_ADV_TYPE_UUID16_MORE = const(0x2) | |
_ADV_TYPE_UUID32_MORE = const(0x4) | |
_ADV_TYPE_UUID128_MORE = const(0x6) | |
_ADV_TYPE_APPEARANCE = const(0x19) | |
# Generate a payload to be passed to gap_advertise(adv_data=...). | |
def advertising_payload(limited_disc=False, br_edr=False, name=None, services=None, appearance=0): | |
payload = bytearray() | |
def _append(adv_type, value): | |
nonlocal payload | |
payload += struct.pack("BB", len(value) + 1, adv_type) + value | |
_append( | |
_ADV_TYPE_FLAGS, | |
struct.pack("B", (0x01 if limited_disc else 0x02) + (0x18 if br_edr else 0x04)), | |
) | |
if name: | |
_append(_ADV_TYPE_NAME, name) | |
if services: | |
for uuid in services: | |
b = bytes(uuid) | |
if len(b) == 2: | |
_append(_ADV_TYPE_UUID16_COMPLETE, b) | |
elif len(b) == 4: | |
_append(_ADV_TYPE_UUID32_COMPLETE, b) | |
elif len(b) == 16: | |
_append(_ADV_TYPE_UUID128_COMPLETE, b) | |
# See org.bluetooth.characteristic.gap.appearance.xml | |
if appearance: | |
_append(_ADV_TYPE_APPEARANCE, struct.pack("<h", appearance)) | |
return payload | |
def decode_field(payload, adv_type): | |
i = 0 | |
result = [] | |
while i + 1 < len(payload): | |
if payload[i + 1] == adv_type: | |
result.append(payload[i + 2 : i + payload[i] + 1]) | |
i += 1 + payload[i] | |
return result | |
def decode_name(payload): | |
n = decode_field(payload, _ADV_TYPE_NAME) | |
return str(n[0], "utf-8") if n else "" | |
def decode_services(payload): | |
services = [] | |
for u in decode_field(payload, _ADV_TYPE_UUID16_COMPLETE): | |
services.append(bluetooth.UUID(struct.unpack("<h", u)[0])) | |
for u in decode_field(payload, _ADV_TYPE_UUID32_COMPLETE): | |
services.append(bluetooth.UUID(struct.unpack("<d", u)[0])) | |
for u in decode_field(payload, _ADV_TYPE_UUID128_COMPLETE): | |
services.append(bluetooth.UUID(u)) | |
return services | |
def show_logo(data): | |
if data[:5] == b'Image': | |
display.show(eval(data)) | |
else: | |
print(data) | |
class BLESimpleCentral: | |
def __init__(self, ble=None): | |
if ble == None: | |
ble = bluetooth.BLE() | |
self._ble = ble | |
self._ble.active(True) | |
self._ble.irq(self._irq) | |
self._reset() | |
def _reset(self): | |
# Cached name and address from a successful scan. | |
self._name = None | |
self._addr_type = None | |
self._addr = None | |
# Callbacks for completion of various operations. | |
# These reset back to None after being invoked. | |
self._scan_callback = None | |
self._conn_callback = None | |
self._read_callback = None | |
# Persistent callback for when new data is notified from the device. | |
self._notify_callback = show_logo | |
# Connected device. | |
self._conn_handle = None | |
self._start_handle = None | |
self._end_handle = None | |
self._tx_handle = None | |
self._rx_handle = None | |
self._n=0 | |
def _on_scan(self, addr_type, addr, name): | |
if addr_type is not None: | |
print("Found peripheral:", addr_type, addr, name) | |
time.sleep_ms(500) | |
self.connect() | |
else: | |
self.timed_out = True | |
print("No uart peripheral '{}' found.".format(self._search_name)) | |
def scan_connect(self, name="robot"): | |
self.timed_out = False | |
self.scan(search_name=name, callback=self._on_scan) | |
while not self.is_connected() and not self.timed_out: | |
# print("Waiting for connection... connected:{}, timed out:{}".format(self.is_connected(), self.timed_out)) | |
time.sleep_ms(100) | |
return not self.timed_out | |
def _irq(self, event, data): | |
if event not in (_IRQ_SCAN_DONE, _IRQ_SCAN_RESULT, _IRQ_PERIPHERAL_CONNECT, _IRQ_PERIPHERAL_DISCONNECT, | |
_IRQ_GATTC_SERVICE_RESULT, _IRQ_GATTC_SERVICE_DONE, _IRQ_GATTC_CHARACTERISTIC_RESULT, | |
_IRQ_GATTC_WRITE_DONE, _IRQ_GATTC_NOTIFY, _IRQ_GATTC_READ_RESULT, _IRQ_GATTC_CHARACTERISTIC_DONE): | |
print(event, hex(event)) | |
if event == _IRQ_SCAN_RESULT: | |
addr_type, addr, adv_type, rssi, adv_data = data | |
name=decode_name(adv_data) or "?" | |
# print('type:{} addr:{} name:{} adv_type: {} rssi:{} data:{}'.format(addr_type, ubinascii.hexlify(addr), name, adv_type,rssi,ubinascii.hexlify(adv_data))) | |
if name == self._search_name: | |
# Found a potential device, remember it | |
self._addr_type = addr_type | |
self._addr = bytes(addr) # Note: addr buffer is owned by caller so need to copy it. | |
self._name = name | |
# ... and stop scanning. This triggers the IRQ_SCAN_DONE and the on_scan callback. | |
self._ble.gap_scan(None) | |
elif event == _IRQ_GATTC_CHARACTERISTIC_DONE: | |
# Called once service discovery is complete. | |
# Note: Status will be zero on success, implementation-specific value otherwise. | |
# conn_handle, status = data | |
pass | |
elif event == _IRQ_SCAN_DONE: | |
if self._scan_callback: | |
if self._addr: | |
# Found a device during the scan (and the scan was explicitly stopped). | |
self._scan_callback(self._addr_type, self._addr, self._name) | |
self._scan_callback = None | |
else: | |
# Scan timed out. | |
self._scan_callback(None, None, None) | |
elif event == _IRQ_PERIPHERAL_CONNECT: | |
# Connect successful. | |
conn_handle, addr_type, addr = data | |
if addr_type == self._addr_type and addr == self._addr: | |
self._conn_handle = conn_handle | |
self._ble.gattc_discover_services(self._conn_handle) | |
elif event == _IRQ_PERIPHERAL_DISCONNECT: | |
# Disconnect (either initiated by us or the remote end). | |
conn_handle, _, _ = data | |
if conn_handle == self._conn_handle: | |
# If it was initiated by us, it'll already be reset. | |
self._reset() | |
print("Disconnect from peripheral") | |
self.timed_out = True | |
elif event == _IRQ_GATTC_SERVICE_RESULT: | |
# Connected device returned a service. | |
conn_handle, start_handle, end_handle, uuid = data | |
self._n+=1 | |
if conn_handle == self._conn_handle and uuid == _UART_UUID: | |
self._start_handle, self._end_handle = start_handle, end_handle | |
# print("UART_UID handles",data) | |
time.sleep_ms(500) | |
self._ble.gattc_discover_characteristics(self._conn_handle, start_handle, end_handle) | |
elif event == _IRQ_GATTC_SERVICE_DONE: | |
time.sleep_ms(300) | |
# Service query complete. | |
if self._start_handle and self._end_handle: | |
self._ble.gattc_discover_characteristics( | |
self._conn_handle, self._start_handle, self._end_handle | |
) | |
else: | |
print("Failed to find uart service.") | |
self.timed_out = True | |
elif event == _IRQ_GATTC_CHARACTERISTIC_RESULT: | |
# Connected device returned a characteristic. | |
conn_handle, def_handle, value_handle, properties, uuid = data | |
#print('gattc_char',data) | |
if conn_handle == self._conn_handle: | |
if uuid == _UART_RX: | |
self._rx_handle = value_handle | |
elif uuid == _UART_TX: | |
self._tx_handle = value_handle | |
elif event == _IRQ_GATTC_WRITE_DONE: | |
conn_handle, value_handle, status = data | |
print("TX complete") | |
elif event == _IRQ_GATTC_NOTIFY: | |
# print("_IRQ_GATTC_NOTIFY") | |
conn_handle, value_handle, notify_data = data | |
notify_data=bytes(notify_data) | |
if conn_handle == self._conn_handle and value_handle == self._tx_handle: | |
if self._notify_callback: | |
self._notify_callback(notify_data) | |
elif event == _IRQ_GATTC_READ_RESULT: | |
#print("_IRQ_GATTC_READ_RESULT") | |
# A read completed successfully. | |
conn_handle, value_handle, char_data = data | |
if conn_handle == self._conn_handle and value_handle in (self._rx_handle,self._buta_handle,self._butb_handle): | |
# print("handle,READ data",value_handle,bytes(char_data)) | |
self._read_callback(value_handle,bytes(char_data)) | |
# Returns true if we've successfully connected and discovered uart characteristics. | |
def is_connected(self): | |
return ( | |
self._conn_handle is not None | |
and self._tx_handle is not None | |
and self._rx_handle is not None | |
) | |
# Find a device advertising the uart service. | |
def scan(self, search_name=0, callback=0, timeout=20000): | |
if search_name == 0: search_name = "robot" | |
if callback == 0: callback = self._on_scan | |
self._addr_type = None | |
self._addr = None | |
self._search_name=search_name | |
self._scan_callback = callback | |
self._ble.gap_scan(timeout, 30000, 30000) | |
# Connect to the specified device (otherwise use cached address from a scan). | |
def connect(self, addr_type=None, addr=None, callback=None): | |
self._addr_type = addr_type or self._addr_type | |
self._addr = addr or self._addr | |
self._conn_callback = callback | |
if self._addr_type is None or self._addr is None: | |
return False | |
self._ble.gap_connect(self._addr_type, self._addr) | |
return True | |
# Disconnect from current device. | |
def disconnect(self): | |
if not self._conn_handle: | |
return | |
self._ble.gap_disconnect(self._conn_handle) | |
self._reset() | |
# Send data over the UART | |
def write(self, v, response=False): | |
if not self.is_connected(): | |
return | |
self._ble.gattc_write(self._conn_handle, self._rx_handle, v, 1 if response else 0) | |
# def enable_notify(self): | |
# TODO: use this make notifications work after crash ? | |
# if not self.is_connected(): | |
# return | |
# print("Enabled notify") | |
# #self._ble.gattc_write(self._conn_handle, self._acc_handle, struct.pack('<h', _NOTIFY_ENABLE), 0) | |
# for i in range(38,49): | |
# self._ble.gattc_write(self._conn_handle, i, struct.pack('<h', _NOTIFY_ENABLE), 0) | |
# time.sleep_ms(50) | |
# print("notify enabled") | |
def read(self,handle,callback): | |
if not self.is_connected(): | |
return | |
self._read_callback = callback | |
try: | |
self._ble.gattc_read(self._conn_handle, handle) | |
except: | |
pass | |
#print("gattc_read failed") | |
# Set handler for when data is received over the UART. | |
def on_notify(self, callback): | |
# self.enable_notify() | |
self._notify_callback = callback | |
# print("callback",callback) | |
# ===== End of library import bit. Now the real code. ===== # | |
from hub import button, port, motion | |
# Some motor helper functions | |
def abs_pos(motor): | |
return motor.get()[2] | |
def pos(motor): | |
return motor.get()[1] | |
def clamp_int(n, floor=-100, ceiling=100): | |
return max(min(int(n),ceiling),floor) | |
def track_target(motor, target=0, gain=1.5): | |
m_pos = motor.get()[1] | |
motor.pwm( | |
clamp_int((m_pos-target)*-gain) | |
) | |
return m_pos | |
# Initialize | |
print("starting BLE") | |
remote_control = BLESimpleCentral() | |
print("Scanning & connecting") | |
found = remote_control.scan_connect() | |
if not found: | |
print ("Scanning timed out") | |
del(remote_control) | |
raise SystemExit | |
print("Connected") | |
# Use this if you want te receive data back from the robot | |
# Note that printing doesn't work here. It messes up comms. | |
# def on_rx(v): | |
# pass | |
# # print("RX", v) | |
# central.on_notify(on_rx) | |
# This can probably be less. TODO. | |
time.sleep_ms(500) | |
steer_trim = port.D.motor | |
steer_trim.preset(0) | |
thumb_trigger = port.C.motor | |
thumb_trigger.preset(abs_pos(thumb_trigger)) | |
force_sensor = port.B.device | |
light_sensor = port.A.device | |
light_sensor.mode((2,0)) # Ambient, Pct (0-100) | |
roll0=motion.yaw_pitch_roll()[2] | |
while remote_control.is_connected(): | |
try: # In case you change the program and make exceptions | |
l_stick_hor, l_stick_ver, r_stick_hor, r_stick_ver, l_trigger, r_trigger, setting1, setting2, buttons_char = [0]*9 | |
# Check for button presses | |
buttons=[0]*8 | |
if button.left.was_pressed(): | |
buttons[0] = True | |
if button.right.was_pressed(): | |
buttons[1] = True | |
# Create a byte with ones for each pressed button. | |
for i in range(len(buttons)): | |
if buttons[i]: | |
buttons_char += 1 << i | |
# Check motor positions | |
# Track the 0 target and generate counter force if you | |
# push the motors. Multiply so maximum movement generates | |
# a number that is in the range -100,100 | |
# gain is how hard the motor pushes back | |
l_trigger = (track_target(thumb_trigger)) * -2 | |
# Just reading the position will make the motor act like | |
# a pot meter. | |
setting1 = pos(steer_trim) | |
# check rotation | |
l_stick_hor = (motion.yaw_pitch_roll()[2]-roll0) * 1.5 | |
# Check flappy paddles | |
# print(light_sensor.get()[0]) | |
r_stick_ver = force_sensor.get()[0] * 12 - (light_sensor.get()[0] - 40)*2 | |
# Pack and transmit all remote control values | |
controller_state = struct.pack("bbbbBBiiB", | |
clamp_int(l_stick_hor), | |
clamp_int(l_stick_ver), | |
clamp_int(r_stick_hor), | |
clamp_int(r_stick_ver), | |
clamp_int(l_trigger,0,200), | |
clamp_int(r_trigger,0,200), | |
int(setting1), | |
int(setting2), | |
buttons_char) | |
remote_control.write(controller_state) | |
# Make sure to clean up when user stops program with center button | |
if button.center.is_pressed(): | |
break | |
# Limit the sending rate of control packets to about 30/s | |
time.sleep_ms(30) | |
except: | |
break | |
# Clean up | |
remote_control.disconnect() | |
del(remote_control) | |
print("Disconnected") | |
raise SystemExit |
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