MicroBit 平衡小車

https://github.com/LOBOT-ROBOT/Qbit

不好用 https://github.com/waveshare/JoyStick

Joystick of MicroBit and Raspberry PI, Part 2

MicroBit 之 JavaScript
bluetooth.onUartDataReceived(serial.delimiters(Delimiters.Hash), function () {
    basic.showString(bluetooth.uartReadUntil(serial.delimiters(Delimiters.Hash)))
})
bluetooth.onBluetoothDisconnected(function () {
    bCnt = 0
    basic.showLeds(`
        # . . . #
        . # . # .
        . . # . .
        . # . # .
        # . . . #
        `)
})
bluetooth.onBluetoothConnected(function () {
    bCnt = 1
    basic.showLeds(`
        . . . . .
        . . . . #
        . . . # .
        # . # . .
        . # . . .
        `)
})
let bCnt = 0
bCnt = 0
pins.setPull(DigitalPin.P5, PinPullMode.PullUp)
pins.setPull(DigitalPin.P11, PinPullMode.PullUp)
pins.setPull(DigitalPin.P15, PinPullMode.PullUp)
pins.setPull(DigitalPin.P14, PinPullMode.PullUp)
pins.setPull(DigitalPin.P13, PinPullMode.PullUp)
pins.setPull(DigitalPin.P12, PinPullMode.PullUp)
bluetooth.startUartService()
basic.showString("b")
basic.forever(function () {
    if (bCnt == 1) {
        bluetooth.uartWriteString("A" + pins.digitalReadPin(DigitalPin.P5) + pins.digitalReadPin(DigitalPin.P11) + pins.digitalReadPin(DigitalPin.P15) + pins.digitalReadPin(DigitalPin.P14) + pins.digitalReadPin(DigitalPin.P13) + pins.digitalReadPin(DigitalPin.P12) + "B" + pins.digitalReadPin(DigitalPin.P8) + "C" + pins.analogReadPin(AnalogPin.P1) + "D" + pins.analogReadPin(AnalogPin.P2))
        bluetooth.uartWriteString("E" + input.acceleration(Dimension.X) + "F" + input.acceleration(Dimension.Y) + "G" + input.acceleration(Dimension.Z) + "H" + input.acceleration(Dimension.Strength) + "I" + input.temperature())
    }
    basic.pause(1)
})

樹莓派上的 python

from bluezero import microbit

from bluezero import async_tools

def uart_callback(rt):

    #print(rt)

    pass

    

def ping():

    ubit.uart = 'ping#'

    return True

def goodbye():

    ubit.quit_async()

    ubit.disconnect()

    return False

ubit = microbit.Microbit(adapter_addr='DC:A6:32:9D:C9:74',

    device_addr='EA:40:D8:89:24:66', # tipet

    #device_addr='FF:06:9C:77:46:E9', # gaviv

    accelerometer_service=False,

    button_service=False,

    led_service=False,

    magnetometer_service=False,

    pin_service=False,

    temperature_service=False,

    uart_service=True)

eloop = async_tools.EventLoop()

ubit.connect()

ubit.subscribe_uart(uart_callback)

eloop.add_timer(10000, ping)

eloop.add_timer(30000, goodbye)

ubit.run_async()

Joystick of MicroBit and Raspberry PI

將 MicroBit 的搖桿透過藍芽連上樹莓派
參考 Waveshare 之 Joystick

到 https://makecode.microbit.org/ 編寫程式 切換 JavaScript 可以直接貼上
bluetooth.onBluetoothConnected(function () {
    basic.showString("C")
})
bluetooth.onBluetoothDisconnected(function () {
    basic.showString("D")
})
pins.setPull(DigitalPin.P5, PinPullMode.PullUp)
pins.setPull(DigitalPin.P11, PinPullMode.PullUp)
pins.setPull(DigitalPin.P15, PinPullMode.PullUp)
pins.setPull(DigitalPin.P14, PinPullMode.PullUp)
pins.setPull(DigitalPin.P13, PinPullMode.PullUp)
pins.setPull(DigitalPin.P12, PinPullMode.PullUp)
basic.showLeds(`
    # . . # #
    # . . # #
    # # # . .
    # . # . .
    # # # . .
    `)
bluetooth.startAccelerometerService()
bluetooth.startLEDService()
bluetooth.startIOPinService()
bluetooth.startTemperatureService()

右上齒輪/Project Settings
選擇 JustWorks pairing(default): Pairing is automatic once the pairing is initiated.
下載至 MicroBit

同時按下 AB 兩按鈕，再按下背面的 Reset 並放開 Reset

等待 畫面顯示完成，放開 AB 兩按鈕

在樹莓派右下角藍芽圖示，按滑鼠右鍵

選擇 Add Device

選擇 MicroBit, 按 Pair

參考 Pairing micro:bits with Raspberry Pi over Bluetooth

參考 https://github.com/jaglees/pibit
參考 python-bluezero
參考 https://github.com/ukBaz/python-bluezero

$ bluetoothctl
[bluetooth]# show
Controller 5C:87:9C:1D:A8:7F (public)
Name: nano-desktop
Alias: nano-desktop
Class: 0x00000000
Powered: yes
Discoverable: no
Pairable: yes
UUID: Generic Attribute Profile (00001801-0000-1000-8000-00805f9b34fb)
UUID: PnP Information           (00001200-0000-1000-8000-00805f9b34fb)
UUID: Generic Access Profile    (00001800-0000-1000-8000-00805f9b34fb)
Modalias: usb:v1D6Bp0246d0530
Discovering: no
取得 adapter 的 MAC Address
[bluetooth]# power off
[bluetooth]# agent off
[bluetooth]# scan off
[bluetooth]# power on
[bluetooth]# agent on
[bluetooth]# scan on
取得 MicroBit 的 MAC Address
[bluetooth]# connect EA:40:D8:89:24:66
[bluetooth]# pair EA:40:D8:89:24:66
若是一直不成功，試試 remove, 再去 connect
[bluetooth]# remove EA:40:D8:89:24:66

將 MicroBit 的 MAC Address 填入 microbits.cnf
修改 python 程式中的 adapter

import time

from bluezero import microbit

from keyboardRead import NonBlockingConsole

# Set the address of the Pi Bluetooth controler

adapter='DC:A6:32:9D:C9:74'

devices={}

filepath = './microbits.cnf'

print ("Initialising microbits found in ", filepath)

try: 

    # Read list of Microbit MAC addresses and attempt to connect to each

    with open(filepath) as fp:

        line = fp.readline()

        while line:

            key=line.strip()

            print ("..Device: [",key.strip(),"]")

            try:

                # Define microbit object

                print ("....Initialising")

                devices[key] = microbit.Microbit(adapter_addr=adapter,

                                    device_addr=key,

                                    accelerometer_service=True,

                                    button_service=False,

                                    led_service=True,

                                    magnetometer_service=False,

                                    pin_service=True,

                                    temperature_service=True)

                print ("....Initialised")

                # Connect to microbit

                print ("....Connecting")

                devices[key].connect()

                print ("....Connected")

                devices[key].set_pin(5, True, False)

                devices[key].set_pin(11, True, False)

                devices[key].set_pin(15, True, False)

                devices[key].set_pin(14, True, False)

                devices[key].set_pin(13, True, False)

                devices[key].set_pin(12, True, False)

                devices[key].set_pin(1, True, True)

                devices[key].set_pin(2, True, True)

                devices[key].set_pin(8, True, False)

            except Exception as e:

                # If initilisation or connection failed remove this device from device list

                print(e)

                print ("....Initialisation or Connection failed")

                devices.pop(key, None)

            line=fp.readline()

except:

    print("Failed to open config file")

    exit()

# Check that at least one device is connected to - if not exit

if (devices is None or len(devices)==0):

    print ("No connected devices - exiting")

    exit()

# Loop whilst listening for keyboard input (on the Pi)

with NonBlockingConsole() as nbc:

    looping = True

    while looping:

        # Check each device in turn - getting the unique key of each device

        for dKey in devices:

            

            # If the escape key is pressed on the PI then break

            keyboardVal = nbc.get_data()

            if keyboardVal == '\x1b':  # x1b is ESC

                print ("Raspberry Pi Escape key pressed")

                looping=False

            elif keyboardVal == 'm':  

                msg = input("Enter message to output to all Pis:")

                for d in devices:

                    devices[d].text=msg

            # If the A button is pressed - exit the loop (a kill switch)

            #if (devices[dKey].button_a > 0):

            #    print("Device [", dKey, "] Button A Pressed" )

            #    #looping=False

            

            # Print the temperature from the device 

            print('Temperature [', dKey, '] = ', devices[dKey].temperature)

            print('Accelerometer [', dKey, '] = ', devices[dKey].accelerometer)

            #print("Device [", dKey, "] Button A = " , devices[dKey].button_a)

            #print("Device [", dKey, "] Button B = " , devices[dKey].button_b)

            print("Device [", dKey, "] Pin = " , devices[dKey].pin_values)

        

        time.sleep(1)

# Tidy up by disconnecting from all devices

print ("Disconnecting from all devices")

for dKey in devices:

    print ("..Device [",dKey,"]")

    print ("....Disconnecting")

    devices[key].disconnect()

    print ("....Disconnected")

Waveshare 之 Joystick

Name	PIN	Function
A	Pin5	Button A
B	Pin11	Button B
C	Pin15	Button C
D	Pin14	Button D
E	Pin13	Button E
F	Pin12	Button F
X	Pin1	Joystick X
Y	Pin2	Joystick Y
P	Pin8	Joystick Press
Buzzer	Pin0	Buzzer

MicroBit 之開發

Micro:bit 使用 c 開發，可使用 線上開發 或 離線開發
但是 線上開發的版本沒有更新，導致新的板子無法使用
加速度和磁力計有兩種不同版本, MMA8653 和 LSM303
離線開發是使用 yotta

yotta 安裝方式
參考 yotta Documentation 和 Yotta
$ sudo apt-get update
$ sudo apt-get install python-setuptools cmake build-essential ninja-build python-dev libffi-dev libssl-dev
$ sudo easy_install pip
$ pip install yotta
$ sudo mkdir -p /usr/local/lib/yotta_modules
$ sudo chown $USER /usr/local/lib/yotta_modules
$ chmod 755 /usr/local/lib/yotta_modules
$ sudo apt-get remove binutils-arm-none-eabi gcc-arm-none-eabi
$ sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
$ sudo apt-get update
$ sudo apt-get install gcc-arm-embedded
$ sudo apt-get install clang-3.9
$ pip install --upgrade cryptography
$ sudo apt-get install srecord
$ git clone https://github.com/lancaster-university/microbit-samples

$ yt target bcc-microbit-classic-gcc
$ cd microbit-samples
$ cp source/examples/bluetooth-services/* source/
$ yt clean
$ yt build

資料產生於 build/bcc-microbit-classic-gcc/source/microbit-samples-combined.hex