ESP32（MicroPython） 多功能显示与可交互超声波云台
ESP32 多功能显示与可交互超声波云台
程序已再次更新，这次改用“休眠模式”，通过定时器中断检测到距离大于70厘米时判断为没人在座位上，关闭交互功能，避免外界干扰误触交互；两次检测到距离小于50厘米时恢复交互。（移植时可以根据实际使用场景调整距离）
早期版本中没人在座位上时，超声波传感器可能因声音多次反射等因素造成读数远小于实际值而误触交互功能，后来改为检测三次（均小于16厘米）才触发交互，但仍不能避免误触。这次改版实测效果好。
DHT22版本
'''
接线:SCL-->25
SDA-->26
DS-->27
(Trig)-->(12)
(Echo)-->(14)
WS-->(13)
舵机
橙色(信号线)-->(17)
红色(电源正)-->(5V)
褐色(电源负)-->(GND)
'''
import random
from machine import Pin,I2C
import time
from i2c_lcd import I2cLcd
import dht
from machine import RTC
from hcsr04 import HCSR04
from neopixel import NeoPixel
from servo import Servo
from machine import Timer
#定义DHT11控制对象
dht22=dht.DHT22(Pin(27))
#定义RTC控制对象
rtc=RTC()
# LCD 1602 I2C 地址
DEFAULT_I2C_ADDR = 0x27
#定义HCSR04控制对象
hcsr04=HCSR04(trigger_pin=12, echo_pin=14)
#定义SG90舵机控制对象
my_servo = Servo(Pin(17))
my_servo.write_angle(180)
#定义WS2812控制对象
pin=13
rgb_num=5
rgb_led=NeoPixel(Pin(pin,Pin.OUT),rgb_num)
# 初始化GPIO口
# def setup():
# global lcd
i2c = I2C(1,sda=Pin(18),scl=Pin(23),freq=400000)
lcd = I2cLcd(i2c, DEFAULT_I2C_ADDR, 2, 16) # 初始化(设备地址, 背光设置)
#定义星期
week=("Mon","Tue","Wed","Thu","Fri","Sat","Sun")
temp=0
humi=0
f=0
distance=20
# 循环函数
def loop():
e=0
d=0
global temp
global humi
global f
global distance
while True:
date_time=rtc.datetime()
distance=hcsr04.distance_cm()
lcd.putstr("%d%02d%02d t%02d h%02d"%(date_time[0],date_time[1],date_time[2],temp,humi))
lcd.putstr("%02d:%02d:%02d %s %03d"%(date_time[4],date_time[5],date_time[6],week[date_time[3]],distance))
if distance<16 :
if f==0 :
my_servo.write_angle(90)
d=1
if d==1 and f==0 :
if e==0 :
for i in range(rgb_num):
rgb_led[i]=(255, 0, 0)
rgb_led.write()
if e==1 :
for i in range(rgb_num):
rgb_led[i]=(0, 255, 0)
rgb_led.write()
if e==2 :
for i in range(rgb_num):
rgb_led[i]=(0, 0, 255)
rgb_led.write()
if e==3 :
for i in range(rgb_num):
rgb_led[i]=(200, 200, 0)
rgb_led.write()
if e==4 :
for i in range(rgb_num):
rgb_led[i]=(0, 200, 200)
rgb_led.write()
if e==5 :
for i in range(rgb_num):
rgb_led[i]=(200, 0, 200)
rgb_led.write()
time.sleep_ms(400)
e+=1
if e==6 :
e=0
if d==0 :
for i in range(rgb_num):
a=random.randint(0,255)
b=random.randint(0,255)
c=random.randint(0,255)
rgb_led[i]=(a, b, c)
rgb_led.write()
my_servo.write_angle(180)
time.sleep_ms(200)
d=0
def time0_irq(time0):
global temp
global humi
global distance
global f
dht22.measure() #调用DHT类库中测量数据的函数
temp = dht22.temperature()
humi = dht22.humidity()
if f==0 : #休眠模式判断，距离较长时判断为没人在座位上，关闭交互功能，避免外界干扰误触交互
if distance>70 : #距离
f=2
if f==1 :
if distance<50 :
f=0
if distance>70 :
f=2
if f==2 :
if distance<50 :
f=1
# 程序入口
if __name__ == '__main__':
# setup() # 初始化GPIO口
time0=Timer(0) #创建time0定时器对象
time0.init(period=2000,mode=Timer.PERIODIC,callback=time0_irq)
loop() # 循环函数
DHT11版本
'''
接线:SCL-->25
SDA-->26
DS-->27
(Trig)-->(12)
(Echo)-->(14)
WS-->(13)
舵机
橙色(信号线)-->(17)
红色(电源正)-->(5V)
褐色(电源负)-->(GND)
'''
import random
from machine import Pin,I2C
import time
from i2c_lcd import I2cLcd
import dht
from machine import RTC
from hcsr04 import HCSR04
from neopixel import NeoPixel
from servo import Servo
from machine import Timer
#定义DHT11控制对象
dht11=dht.DHT11(Pin(27))
#定义RTC控制对象
rtc=RTC()
# LCD 1602 I2C 地址
DEFAULT_I2C_ADDR = 0x27
#定义HCSR04控制对象
hcsr04=HCSR04(trigger_pin=12, echo_pin=14)
#定义SG90舵机控制对象
my_servo = Servo(Pin(17))
my_servo.write_angle(180)
#定义WS2812控制对象
pin=13
rgb_num=5
rgb_led=NeoPixel(Pin(pin,Pin.OUT),rgb_num)
# 初始化GPIO口
# def setup():
# global lcd
i2c = I2C(1,sda=Pin(18),scl=Pin(23),freq=400000)
lcd = I2cLcd(i2c, DEFAULT_I2C_ADDR, 2, 16) # 初始化(设备地址, 背光设置)
#定义星期
week=("Mon","Tue","Wed","Thu","Fri","Sat","Sun")
temp=0
humi=0
f=0
distance=20
# 循环函数
def loop():
e=0
d=0
global temp
global humi
global f
global distance
while True:
date_time=rtc.datetime()
distance=hcsr04.distance_cm()
lcd.putstr("%d%02d%02d t%02d h%02d"%(date_time[0],date_time[1],date_time[2],temp,humi))
lcd.putstr("%02d:%02d:%02d %s %03d"%(date_time[4],date_time[5],date_time[6],week[date_time[3]],distance))
if distance<16 :
if f==0 :
my_servo.write_angle(90)
d=1
if d==1 and f==0 :
if e==0 :
for i in range(rgb_num):
rgb_led[i]=(255, 0, 0)
rgb_led.write()
if e==1 :
for i in range(rgb_num):
rgb_led[i]=(0, 255, 0)
rgb_led.write()
if e==2 :
for i in range(rgb_num):
rgb_led[i]=(0, 0, 255)
rgb_led.write()
if e==3 :
for i in range(rgb_num):
rgb_led[i]=(200, 200, 0)
rgb_led.write()
if e==4 :
for i in range(rgb_num):
rgb_led[i]=(0, 200, 200)
rgb_led.write()
if e==5 :
for i in range(rgb_num):
rgb_led[i]=(200, 0, 200)
rgb_led.write()
time.sleep_ms(400)
e+=1
if e==6 :
e=0
if d==0 :
for i in range(rgb_num):
a=random.randint(0,255)
b=random.randint(0,255)
c=random.randint(0,255)
rgb_led[i]=(a, b, c)
rgb_led.write()
my_servo.write_angle(180)
time.sleep_ms(200)
d=0
def time0_irq(time0):
global temp
global humi
global distance
global f
dht11.measure() #调用DHT类库中测量数据的函数
temp = dht11.temperature()
humi = dht11.humidity()
if f==0 : #休眠模式判断，距离较长时判断为没人在座位上，关闭交互功能，避免外界干扰误触交互
if distance>70 : #距离
f=2
if f==1 :
if distance<50 :
f=0
if distance>70 :
f=2
if f==2 :
if distance<50 :
f=1
# 程序入口
if __name__ == '__main__':
# setup() # 初始化GPIO口
time0=Timer(0) #创建time0定时器对象
time0.init(period=2000,mode=Timer.PERIODIC,callback=time0_irq)
loop() # 循环函数
相关外设驱动
hcsr04.py
import machine, time
from machine import Pin
__version__ = '0.2.0'
__author__ = 'Roberto Sánchez'
__license__ = "Apache License 2.0. https://www.apache.org/licenses/LICENSE-2.0"
class HCSR04:
"""
Driver to use the untrasonic sensor HC-SR04.
The sensor range is between 2cm and 4m.
The timeouts received listening to echo pin are converted to OSError('Out of range')
"""
# echo_timeout_us is based in chip range limit (400cm)
def __init__(self, trigger_pin, echo_pin, echo_timeout_us=500*2*30):
"""
trigger_pin: Output pin to send pulses
echo_pin: Readonly pin to measure the distance. The pin should be protected with 1k resistor
echo_timeout_us: Timeout in microseconds to listen to echo pin.
By default is based in sensor limit range (4m)
"""
self.echo_timeout_us = echo_timeout_us
# Init trigger pin (out)
self.trigger = Pin(trigger_pin, mode=Pin.OUT, pull=None)
self.trigger.value(0)
# Init echo pin (in)
self.echo = Pin(echo_pin, mode=Pin.IN, pull=None)
def _send_pulse_and_wait(self):
"""
Send the pulse to trigger and listen on echo pin.
We use the method `machine.time_pulse_us()` to get the microseconds until the echo is received.
"""
self.trigger.value(0) # Stabilize the sensor
time.sleep_us(5)
self.trigger.value(1)
# Send a 10us pulse.
time.sleep_us(10)
self.trigger.value(0)
try:
pulse_time = machine.time_pulse_us(self.echo, 1, self.echo_timeout_us)
return pulse_time
except OSError as ex:
if ex.args[0] == 110: # 110 = ETIMEDOUT
raise OSError('Out of range')
raise ex
def distance_mm(self):
"""
Get the distance in milimeters without floating point operations.
"""
pulse_time = self._send_pulse_and_wait()
# To calculate the distance we get the pulse_time and divide it by 2
# (the pulse walk the distance twice) and by 29.1 becasue
# the sound speed on air (343.2 m/s), that It's equivalent to
# 0.34320 mm/us that is 1mm each 2.91us
# pulse_time // 2 // 2.91 -> pulse_time // 5.82 -> pulse_time * 100 // 582
mm = pulse_time * 100 // 582
return mm
def distance_cm(self):
"""
Get the distance in centimeters with floating point operations.
It returns a float
"""
pulse_time = self._send_pulse_and_wait()
# To calculate the distance we get the pulse_time and divide it by 2
# (the pulse walk the distance twice) and by 29.1 becasue
# the sound speed on air (343.2 m/s), that It's equivalent to
# 0.034320 cm/us that is 1cm each 29.1us
cms = (pulse_time / 2) / 29.1
return cms
i2c_lcd.py
from lcd_api import LcdApi
from machine import I2C
from time import sleep_ms
# The PCF8574 has a jumper selectable address: 0x20 - 0x27
DEFAULT_I2C_ADDR = 0x27
# Defines shifts or masks for the various LCD line attached to the PCF8574
MASK_RS = 0x01
MASK_RW = 0x02
MASK_E = 0x04
SHIFT_BACKLIGHT = 3
SHIFT_DATA = 4
class I2cLcd(LcdApi):
"""Implements a HD44780 character LCD connected via PCF8574 on I2C."""
def __init__(self, i2c, i2c_addr, num_lines, num_columns):
self.i2c = i2c
self.i2c_addr = i2c_addr
self.i2c.writeto(self.i2c_addr, bytearray([0]))
sleep_ms(20) # Allow LCD time to powerup
# Send reset 3 times
self.hal_write_init_nibble(self.LCD_FUNCTION_RESET)
sleep_ms(5) # need to delay at least 4.1 msec
self.hal_write_init_nibble(self.LCD_FUNCTION_RESET)
sleep_ms(1)
self.hal_write_init_nibble(self.LCD_FUNCTION_RESET)
sleep_ms(1)
# Put LCD into 4 bit mode
self.hal_write_init_nibble(self.LCD_FUNCTION)
sleep_ms(1)
LcdApi.__init__(self, num_lines, num_columns)
cmd = self.LCD_FUNCTION
if num_lines > 1:
cmd |= self.LCD_FUNCTION_2LINES
self.hal_write_command(cmd)
def hal_write_init_nibble(self, nibble):
"""Writes an initialization nibble to the LCD.
This particular function is only used during initialization.
"""
byte = ((nibble >> 4) & 0x0f) << SHIFT_DATA
self.i2c.writeto(self.i2c_addr, bytearray([byte | MASK_E]))
self.i2c.writeto(self.i2c_addr, bytearray([byte]))
def hal_backlight_on(self):
"""Allows the hal layer to turn the backlight on."""
self.i2c.writeto(self.i2c_addr, bytearray([1 << SHIFT_BACKLIGHT]))
def hal_backlight_off(self):
"""Allows the hal layer to turn the backlight off."""
self.i2c.writeto(self.i2c_addr, bytearray([0]))
def hal_write_command(self, cmd):
"""Writes a command to the LCD.
Data is latched on the falling edge of E.
"""
byte = ((self.backlight << SHIFT_BACKLIGHT) | (((cmd >> 4) & 0x0f) << SHIFT_DATA))
self.i2c.writeto(self.i2c_addr, bytearray([byte | MASK_E]))
self.i2c.writeto(self.i2c_addr, bytearray([byte]))
byte = ((self.backlight << SHIFT_BACKLIGHT) | ((cmd & 0x0f) << SHIFT_DATA))
self.i2c.writeto(self.i2c_addr, bytearray([byte | MASK_E]))
self.i2c.writeto(self.i2c_addr, bytearray([byte]))
if cmd <= 3:
# The home and clear commands require a worst case delay of 4.1 msec
sleep_ms(5)
def hal_write_data(self, data):
"""Write data to the LCD."""
byte = (MASK_RS | (self.backlight << SHIFT_BACKLIGHT) | (((data >> 4) & 0x0f) << SHIFT_DATA))
self.i2c.writeto(self.i2c_addr, bytearray([byte | MASK_E]))
self.i2c.writeto(self.i2c_addr, bytearray([byte]))
byte = (MASK_RS | (self.backlight << SHIFT_BACKLIGHT) | ((data & 0x0f) << SHIFT_DATA))
self.i2c.writeto(self.i2c_addr, bytearray([byte | MASK_E]))
self.i2c.writeto(self.i2c_addr, bytearray([byte]))
lcd_api.py
"""Provides an API for talking to HD44780 compatible character LCDs."""
import time
class LcdApi:
"""Implements the API for talking with HD44780 compatible character LCDs.
This class only knows what commands to send to the LCD, and not how to get
them to the LCD.
It is expected that a derived class will implement the hal_xxx functions.
"""
# The following constant names were lifted from the avrlib lcd.h
# header file, however, I changed the definitions from bit numbers
# to bit masks.
#
# HD44780 LCD controller command set
LCD_CLR = 0x01 # DB0: clear display
LCD_HOME = 0x02 # DB1: return to home position
LCD_ENTRY_MODE = 0x04 # DB2: set entry mode
LCD_ENTRY_INC = 0x02 # --DB1: increment
LCD_ENTRY_SHIFT = 0x01 # --DB0: shift
LCD_ON_CTRL = 0x08 # DB3: turn lcd/cursor on
LCD_ON_DISPLAY = 0x04 # --DB2: turn display on
LCD_ON_CURSOR = 0x02 # --DB1: turn cursor on
LCD_ON_BLINK = 0x01 # --DB0: blinking cursor
LCD_MOVE = 0x10 # DB4: move cursor/display
LCD_MOVE_DISP = 0x08 # --DB3: move display (0-> move cursor)
LCD_MOVE_RIGHT = 0x04 # --DB2: move right (0-> left)
LCD_FUNCTION = 0x20 # DB5: function set
LCD_FUNCTION_8BIT = 0x10 # --DB4: set 8BIT mode (0->4BIT mode)
LCD_FUNCTION_2LINES = 0x08 # --DB3: two lines (0->one line)
LCD_FUNCTION_10DOTS = 0x04 # --DB2: 5x10 font (0->5x7 font)
LCD_FUNCTION_RESET = 0x30 # See "Initializing by Instruction" section
LCD_CGRAM = 0x40 # DB6: set CG RAM address
LCD_DDRAM = 0x80 # DB7: set DD RAM address
LCD_RS_CMD = 0
LCD_RS_DATA = 1
LCD_RW_WRITE = 0
LCD_RW_READ = 1
def __init__(self, num_lines, num_columns):
self.num_lines = num_lines
if self.num_lines > 4:
self.num_lines = 4
self.num_columns = num_columns
if self.num_columns > 40:
self.num_columns = 40
self.cursor_x = 0
self.cursor_y = 0
self.backlight = True
self.display_off()
self.backlight_on()
self.clear()
self.hal_write_command(self.LCD_ENTRY_MODE | self.LCD_ENTRY_INC)
self.hide_cursor()
self.display_on()
def clear(self):
"""Clears the LCD display and moves the cursor to the top left
corner.
"""
self.hal_write_command(self.LCD_CLR)
self.hal_write_command(self.LCD_HOME)
self.cursor_x = 0
self.cursor_y = 0
def show_cursor(self):
"""Causes the cursor to be made visible."""
self.hal_write_command(self.LCD_ON_CTRL | self.LCD_ON_DISPLAY |
self.LCD_ON_CURSOR)
def hide_cursor(self):
"""Causes the cursor to be hidden."""
self.hal_write_command(self.LCD_ON_CTRL | self.LCD_ON_DISPLAY)
def blink_cursor_on(self):
"""Turns on the cursor, and makes it blink."""
self.hal_write_command(self.LCD_ON_CTRL | self.LCD_ON_DISPLAY |
self.LCD_ON_CURSOR | self.LCD_ON_BLINK)
def blink_cursor_off(self):
"""Turns on the cursor, and makes it no blink (i.e. be solid)."""
self.hal_write_command(self.LCD_ON_CTRL | self.LCD_ON_DISPLAY |
self.LCD_ON_CURSOR)
def display_on(self):
"""Turns on (i.e. unblanks) the LCD."""
self.hal_write_command(self.LCD_ON_CTRL | self.LCD_ON_DISPLAY)
def display_off(self):
"""Turns off (i.e. blanks) the LCD."""
self.hal_write_command(self.LCD_ON_CTRL)
def backlight_on(self):
"""Turns the backlight on.
This isn't really an LCD command, but some modules have backlight
controls, so this allows the hal to pass through the command.
"""
self.backlight = True
self.hal_backlight_on()
def backlight_off(self):
"""Turns the backlight off.
This isn't really an LCD command, but some modules have backlight
controls, so this allows the hal to pass through the command.
"""
self.backlight = False
self.hal_backlight_off()
def move_to(self, cursor_x, cursor_y):
"""Moves the cursor position to the indicated position. The cursor
position is zero based (i.e. cursor_x == 0 indicates first column).
"""
self.cursor_x = cursor_x
self.cursor_y = cursor_y
addr = cursor_x & 0x3f
if cursor_y & 1:
addr += 0x40 # Lines 1 & 3 add 0x40
if cursor_y & 2:
addr += 0x14 # Lines 2 & 3 add 0x14
self.hal_write_command(self.LCD_DDRAM | addr)
def putchar(self, char):
"""Writes the indicated character to the LCD at the current cursor
position, and advances the cursor by one position.
"""
if char != '\n':
self.hal_write_data(ord(char))
self.cursor_x += 1
if self.cursor_x >= self.num_columns or char == '\n':
self.cursor_x = 0
self.cursor_y += 1
if self.cursor_y >= self.num_lines:
self.cursor_y = 0
self.move_to(self.cursor_x, self.cursor_y)
def putstr(self, string):
"""Write the indicated string to the LCD at the current cursor
position and advances the cursor position appropriately.
"""
for char in string:
self.putchar(char)
def custom_char(self, location, charmap):
"""Write a character to one of the 8 CGRAM locations, available
as chr(0) through chr(7).
"""
location &= 0x7
self.hal_write_command(self.LCD_CGRAM | (location << 3))
time.sleep_us(40)
for i in range(8):
self.hal_write_data(charmap[i])
time.sleep_us(40)
self.move_to(self.cursor_x, self.cursor_y)
def hal_backlight_on(self):
"""Allows the hal layer to turn the backlight on.
If desired, a derived HAL class will implement this function.
"""
pass
def hal_backlight_off(self):
"""Allows the hal layer to turn the backlight off.
If desired, a derived HAL class will implement this function.
"""
pass
def hal_write_command(self, cmd):
"""Write a command to the LCD.
It is expected that a derived HAL class will implement this
function.
"""
raise NotImplementedError
def hal_write_data(self, data):
"""Write data to the LCD.
It is expected that a derived HAL class will implement this
function.
"""
raise NotImplementedError