Example 1 bluebit重力遥控小车

Part list:

• 1x micro:bit
• 1x blue:bit-主板
• 2x blue:bit-电机驱动

Description：
通过micro:bit重力感应遥控blue:bit小车
使用方法：按下micro:bit A按键左右前后倾斜，通过2轴重力控制小车

Connection：

小车左电机	AN1->P14 AN2->P13
小车右电机	AN1->P16 AN2->P15

Programs：

Bluebit重力小车程序 ‎

• microbit重力遥控端程序

from microbit import *
import radio
radio.on()
radio.config(length=8, queue=3, channel=79, power=7, 
             address=0x44773311, group=0x1B, data_rate=radio.RATE_250KBIT)
    
msg = bytearray(5)
x = 0
y = 0
z = 0
a = 0
while True:
    x = accelerometer.get_x()
    y = accelerometer.get_y()
    z = accelerometer.get_z()
    if button_a.is_pressed():
        a=1 
    else:
        a=0
    
    x = x + 10000
    msg[0] = int(x / 256)
    msg[1] = x % 256
    y = y + 10000
    msg[2] = int(y / 256)
    msg[3] = y % 256
    msg[4] = a
    radio.send_bytes(msg)
    sleep(50)

• blue:bit小车程序

from microbit import *
import radio
import math

def motion(leftSpeed, rightSpeed):
    if leftSpeed > 1023:
        leftSpeed = 1023
    if leftSpeed < -1023:
        leftSpeed = -1023
    if leftSpeed == 0:
        pin13.write_analog(1)
        pin14.write_analog(1)
       
    if leftSpeed > 0:
        pin13.write_analog(1)
        pin14.write_analog(int(leftSpeed/1.5))
       
    if leftSpeed < 0:
        leftSpeed = -leftSpeed
        pin13.write_analog(int(leftSpeed/1.5))
        pin14.write_analog(1)
       
    if rightSpeed > 1023:
        rightSpeed = 1023
    if rightSpeed < -1023:
        rightSpeed = -1023
    if rightSpeed == 0:
        pin15.write_analog(1)
        pin16.write_analog(1)
    if rightSpeed > 0:
        pin15.write_analog(int(rightSpeed/1.5))
        pin16.write_analog(1)
    if rightSpeed < 0:
        rightSpeed = -rightSpeed
        pin15.write_analog(1)
        pin16.write_analog(int(rightSpeed/1.5))
    
display.off()
radio.on()
radio.config(length=8, queue=20, channel=79, power=7,
             address=0x44773311, group=0x1B, data_rate=radio.RATE_250KBIT)
x = 0
y = 0
z = 0
a = 0
left = 0
right = 0
while True:
    msg = bytes(5)
    msg = radio.receive_bytes()
    if msg is not None:
        x = msg[0]*256 + msg[1]
        x = x - 10000
        y = msg[2]*256 + msg[3]
        y = y - 10000
        a = msg[4]
        #print('x=',x,'y=',y)
        if a == 1:
            left = int((y + x))
            right = int((y - x))
            print('left = ', left)
            print('right = ', right)
            motion(right, left)
        else:
            motion(0,0)