add Direction

Author: Lyubiao

10.microbit/accelerometer.py

@@ -1,8 +1,14 @@
+from time import sleep_ms
+<<<<<<< HEAD
+
+=======
+>>>>>>> 9c84ecc58c88a86411117dae28d3e69d002fe426
 
 class Accelerometer:
 
     def __init__(self, sensor):
         self.sensor = sensor
+        self.old, self.new, self.eliminate = [0]*3, [0]*3, 2
 
     def get_x(self):
         return self.sensor.acceleration[0] * 5
@@ -14,7 +20,121 @@ def get_z(self):
         return self.sensor.acceleration[2] * 5
 
     def get_values(self):
-        return self.sensor.acceleration
+        self.old = self.new
+        self.new = self.sensor.acceleration
+        return self.new
+
+    def get_state(self):
+        tmp = [0]*3
+        for i in range(3):
+            tmp[i] = self.new[i] - self.old[i]
+            tmp[i] = 0 if abs(tmp[i]) < self.eliminate else tmp[i]
+        return tmp
+
+
+class Direction(Accelerometer):
+    idle, ing, end, = 0, 1, 2
+
+    def __init__(self, sensor):
+        Accelerometer.__init__(self, sensor)
+        self.r_state, self.l_state, self.f_state, self.b_state, = Direction.idle, Direction.idle, Direction.idle, Direction.idle
+
+    def get_direction(self, delay=30):
+        sleep_ms(delay)
+        super().get_values()
+        tem = super().get_state()
+        x_state, y_state, z_state = tem[0], tem[1], tem[2]
+        result = []
+        if self.r_state == Direction.idle and x_state > 0 and self.new[0] > 2.5:
+            self.r_count = 0
+            self.r_state = Direction.ing
+
+        if self.r_state == Direction.ing:
+            # print('Direction.ing')
+            self.r_count += 1
+            if self.r_count > 10:
+                self.r_state = Direction.idle
+            elif x_state < 0 and self.old[0] > 2.5:
+                self.r_state = Direction.end
+
+        if self.r_state == Direction.end:
+            # print('Direction.end')
+            self.r_count += 1
+            if self.r_count > 20:
+                self.r_state = Direction.idle
+            elif x_state > 0 and self.old[0] < -2.5:
+                result.append('right')
+                self.r_state = Direction.idle
+
+        if self.l_state == Direction.idle and x_state < 0 and self.new[0] < -2.5:
+            self.l_count = 0
+            self.l_state = Direction.ing
+
+        if self.l_state == Direction.ing:
+            # print('Direction.ing')
+            self.l_count += 1
+            if self.l_count > 10:
+                self.l_state = Direction.idle
+            elif x_state > 0 and self.old[0] < -2.5:
+                self.l_state = Direction.end
+
+        if self.l_state == Direction.end:
+            # print('Direction.end')
+            self.l_count += 1
+            if self.l_count > 20:
+                self.l_state = Direction.idle
+            elif x_state < 0 and self.old[0] > 2.5:
+                result.append('left')
+                self.l_state = Direction.idle
+
+        if self.f_state == Direction.idle and y_state > 0 and self.new[1] > 2.5:
+            self.f_count = 0
+            self.f_state = Direction.ing
+
+        if self.f_state == Direction.ing:
+            # print('Direction.ing')
+            self.f_count += 1
+            if self.f_count > 10:
+                self.f_state = Direction.idle
+            elif y_state < 0 and self.old[1] > 2.5:
+                self.f_state = Direction.end
+
+        if self.f_state == Direction.end:
+            # print('Direction.end')
+            self.f_count += 1
+            if self.f_count > 20:
+                self.f_state = Direction.idle
+            elif y_state > 0 and self.old[1] < -2.5:
+                result.append('forward')
+                self.f_state = Direction.idle
+
+        if self.b_state == Direction.idle and y_state < 0 and self.new[1] < -2.5:
+            self.b_count = 0
+            self.b_state = Direction.ing
+
+        if self.b_state == Direction.ing:
+            # print('Direction.ing')
+            self.b_count += 1
+            if self.b_count > 10:
+                self.b_state = Direction.idle
+            elif y_state > 0 and self.old[1] < -2.5:
+                self.b_state = Direction.end
+
+        if self.b_state == Direction.end:
+            # print('Direction.end')
+            self.b_count += 1
+            if self.b_count > 20:
+                self.b_state = Direction.idle
+            elif y_state < 0 and self.old[1] > 2.5:
+                result.append('backwards')
+                self.b_state = Direction.idle
+
+<<<<<<< HEAD
+=======
+      
+
+>>>>>>> 9c84ecc58c88a86411117dae28d3e69d002fe426
+        return None if len(result) != 1 else result[0]
 
 
 def unit_test():
@@ -28,18 +148,19 @@ def unit_test():
     i2c = I2C(scl=Pin(22), sda=Pin(21), freq=200000)
     sensor = MPU9250(i2c)
     print('MPU9250 whoami: ' + hex(sensor.whoami))
-    accelerometer = Accelerometer(sensor)
+    gs = Direction(sensor)
+    t = 0
     while True:
-        sleep(0.1)
-        reading = accelerometer.get_x()
-        print(reading)
-        print(accelerometer.get_values())
-        if reading > 20:
-            display.show("R")
-        elif reading < -20:
-            display.show("L")
-        else:
-            display.show("-")
+        res = gs.get_direction()
+        if res != None:
+            print(res)
+            t = 1+t
+            print(t)
+<<<<<<< HEAD
+=======
+  
+>>>>>>> 9c84ecc58c88a86411117dae28d3e69d002fe426
+
 
 if __name__ == '__main__':
-    unit_test()
+    unit_test()