import uasyncio import math from machine import Pin from servo import Servo from keypad import Keypad from split_flap import * from led import * # Define digit servos servo_1 = Servo(pin_id=0, min_us=1500.0, max_us=2000.0) servo_2 = Servo(pin_id=2, min_us=1475.0, max_us=2000.0) servo_3 = Servo(pin_id=4, min_us=1500.0, max_us=2000.0) servo_4 = Servo(pin_id=6, min_us=1500.0, max_us=2000.0) servo_5 = Servo(pin_id=8, min_us=1500.0, max_us=2000.0) servo_6 = Servo(pin_id=10, min_us=1510.0, max_us=2000.0) servos = [servo_6, servo_5, servo_4, servo_3, servo_2, servo_1] # Define hall sensor pins hall_1 = machine.Pin(1, Pin.IN, Pin.PULL_DOWN) hall_2 = machine.Pin(3, Pin.IN, Pin.PULL_DOWN) hall_3 = machine.Pin(5, Pin.IN, Pin.PULL_DOWN) hall_4 = machine.Pin(7, Pin.IN, Pin.PULL_DOWN) hall_5 = machine.Pin(9, Pin.IN, Pin.PULL_DOWN) hall_6 = machine.Pin(11, Pin.IN, Pin.PULL_DOWN) halls = [hall_6, hall_5, hall_4, hall_3, hall_2, hall_1] # Define LED pins led_plus = machine.Pin(22, Pin.OUT) led_minus = machine.Pin(26, Pin.OUT) led_multiply = machine.Pin(27, Pin.OUT) led_divide = machine.Pin(28, Pin.OUT) leds = [led_plus, led_minus, led_multiply, led_divide] # Define keyboard pins row_pins = [Pin(12), Pin(13), Pin(14), Pin(15)] column_pins = [Pin(16), Pin(17), Pin(18), Pin(19), Pin(20), Pin(21)] # Define home speeds for servos home_speeds = [40, 40, 40, 40, 40, 40] # Define default servo time constants (outer list servo id, inner list flap step id) # b, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, ., b servo_times = [[0, 83, 166, 249, 332, 415, 498, 581, 664, 747, 830, 913, 996], [0, 83, 166, 249, 332, 415, 498, 581, 664, 747, 830, 913, 996], [0, 83, 166, 249, 332, 415, 498, 581, 664, 747, 830, 913, 996], [0, 83, 166, 249, 332, 415, 498, 581, 664, 747, 830, 913, 996], [0, 83, 166, 249, 332, 415, 498, 581, 664, 747, 830, 913, 996], [0, 83, 166, 249, 332, 415, 498, 581, 664, 747, 830, 913, 996]] # Define an index lookup for flap positions index_dict = {'':0, '0':1, '1':2, '2':3, '3':4, '4':5, '5':6, '6':7, '7':8, '8':9, '9':10, '.':11, '-':11} # Define flap distances as steps (outter list starting id, inner list target id) step_difference = [[0,1,2,3,4,5,6,7,8,9,10,11], [11,0,1,2,3,4,5,6,7,8,9,10], [10,11,0,1,2,3,4,5,6,7,8,9], [9,10,11,0,1,2,3,4,5,6,7,8], [8,9,10,11,0,1,2,3,4,5,6,7], [7,8,9,10,11,0,1,2,3,4,5,6], [6,7,8,9,10,11,0,1,2,3,4,5], [5,6,7,8,9,10,11,0,1,2,3,4], [4,5,6,7,8,9,10,11,0,1,2,3], [3,4,5,6,7,8,9,10,11,0,1,2], [2,3,4,5,6,7,8,9,10,11,0,1], [1,2,3,4,5,6,7,8,9,10,11,0]] # Define keypad layout keys = [ ['7', '8', '9', 'sin', 'cos', 'tan'], ['4', '5', '6', 'sqrt', '*', '/'], ['1', '2', '3', 'sqr', '+', '-'], ['0', '.', 'pi', '=', 'DEL', 'AC']] keyboard = Keypad(row_pins, column_pins, keys) # Define key types numerical_values = ['7', '8', '9', '4', '5', '6', '1', '2', '3', '0', '.'] instant_operations = ['sin', 'cos', 'tan', 'sqrt', 'sqr'] num_operations = ['+', '-', '*', '/'] # Define previous key pressed previous_key = None # Define display state display_state = ['','','','','',''] # Define input state input_state = ['','','','','',''] # Define operation operation = None # Define calculation value calc_value = 0 async def read_keyboard(): # Always check for keyboard inputs every 20ms (minimum 120ms on key press for debounce) while True: key_pressed = keyboard.read_keypad() # Take action if a key is pressed and is not the key currently depressed if key_pressed is not None and key_pressed is not previous_key: print(key_pressed) await update_input_state(key_pressed) print(input_state) await update_leds() await update_display() await uasyncio.sleep_ms(100) # Update the previous_key with the pressed key previous_key = key_pressed await uasyncio.sleep_ms(20) async def home_all(): global display_state # Set all digits to home and await completion from all coroutines home_tasks = [find_home(halls[i], servos[i], home_speeds[i]) for i in range(len(servos))] await uasyncio.gather(*home_tasks) display_state = ['','','','','',''] async def home_x(servo_ids): # Set a selection of digits to home and await completion from all coroutines home_tasks = [] for servo_id in servo_ids: home_tasks.append(find_home(halls[servo_id], servos[servo_id], home_speeds[servo_id])) input_state[servo_id] = '' await uasyncio.gather(*home_tasks) async def input_state_to_value(): if input_state[5] == '': return 0 for item in input_state: if item == '.': return float(''.join(input_state)) return int(''.join(input_state)) async def value_to_input_state(value): global input_state value_string = str(value) if len(value_string) < len(input_state): padding_length = len(input_state) - len(value_string) input_state = ['','','','','',''] for i in range(padding_length, len(input_state)): if value_string[i - padding_length] == '-': input_state[0] = '-' else: input_state[i] = value_string[i - padding_length] else: for i in range(len(input_state)): if value_string[i] == '-': input_state[0] = '-' else: input_state[i] = value_string[i] print(input_state) async def update_input_state(key): global input_state global operation global calc_value # Check key type (instant mathematical operations on state) if key in instant_operations and input_state[5] != '': value = await input_state_to_value() result = None print(value) if key == 'sin': result = round(math.sin(value), 4) elif key == 'cos': result = round(math.cos(value), 4) elif key == 'tan': result = round(math.tan(value), 4) elif key == 'sqrt': if value <= 0: await display_error() return result = math.sqrt(value) if result % 1 == 0: result = int(result) elif key == 'sqr': result = value**2 await value_to_input_state(result) return # Check key type (state updates) if key == 'DEL': if input_state[0] == '-': input_state[0] = '' return for i in range(5, 0, -1): input_state[i] = input_state[i - 1] input_state[0] = '' return elif key == 'AC': input_state = ['','','','','',''] operation = None await home_all() return elif key == 'pi': if input_state == ['3','.','2','2','6','6']: input_state = ['3','.','1','4','1','6'] else: input_state = ['3','.','2','2','6','6'] return # Check key type (operations) if key in num_operations: if key == '-' and input_state[5] == '': input_state[0] = '-' return operation = key calc_value = await input_state_to_value() input_state = ['','','','','',''] return print(f"Operation: {operation}") # Check if this is a numerical (or decimal point) input if key in numerical_values: # Check if input state is full if input_state[0] != '' and input_state[0] != '-': return # Check for leading zero if input_state[5] == '0' and input_state[4] == '' and key is not '.': input_state[5] = '' # Check for decimal start rules if key == '.' and input_state[5] == '': input_state[4] = '0' input_state[5] = '.' return # Check for multiple decimals if key =='.': for i in range(len(input_state)): if input_state[i] == '.': return # Move every value up one position for i in range(1, len(input_state)): if input_state[i] != '': input_state[i - 1] = input_state[i] # Add the input to the end of the state input_state[5] = key print(input_state) return if key == '=': calculation = 0 if operation == '+': calculation = calc_value + await input_state_to_value() elif operation == '-': calculation = calc_value - await input_state_to_value() elif operation == '*': calculation = calc_value * await input_state_to_value() elif operation == '/': divisor = await input_state_to_value() if divisor == 0: await display_error() return calculation = calc_value / divisor if operation != None: # If the number is a float with no decimal component cast to integer if calculation % 1 == 0: calculation = int(calculation) # Update input state and reset operation to none await value_to_input_state(calculation) operation = None async def display_error(): global input_state global operation input_state = ['','','','','',''] operation = None led_tasks = [led_flash(l, 125, 7) for l in leds] for task in led_tasks: uasyncio.create_task(task) await home_all() print("ERROR") async def passes_home(display_index, input_index): steps_to_home = step_difference[display_index][0] steps_to_target = step_difference[display_index][input_index] if steps_to_target == steps_to_home and display_index != 0: return True return steps_to_target > steps_to_home async def update_display(): global display_state global input_state # List for how many steps each servo needs to make from current display state to new input state step_list = [0,0,0,0,0,0] passing_home_list = [False, False, False, False, False, False] for i in range(len(input_state)): display_index = index_dict[display_state[i]] input_index = index_dict[input_state[i]] step_list[i] = step_difference[display_index][input_index] # Detect if home is going to be passed, set the flag and adjust the move relative to home home_passed = await passes_home(display_index, input_index) if home_passed: passing_home_list[i] = home_passed step_list[i] = step_difference[0][input_index] print(step_list) await split_update_all(step_list, passing_home_list) display_state = input_state.copy() async def update_leds(): global operation if operation == None: for led in leds: led.low() elif operation == '+': led_plus.high() led_minus.low() led_multiply.low() led_divide.low() elif operation == '-': led_plus.low() led_minus.high() led_multiply.low() led_divide.low() elif operation == '*': led_plus.low() led_minus.low() led_multiply.high() led_divide.low() elif operation == '/': led_plus.low() led_minus.low() led_multiply.low() led_divide.high() async def split_update_all(steps, passing_home_list): move_tasks = [move_flap_x(halls[i], servos[i], servo_times[i][steps[i]], passing_home_list[i]) for i in range(3, 6)] await uasyncio.gather(*move_tasks) await uasyncio.sleep_ms(50) move_tasks = [move_flap_x(halls[i], servos[i], servo_times[i][steps[i]], passing_home_list[i]) for i in range(0, 3)] await uasyncio.gather(*move_tasks) async def calibrate_all(): global servo_times for i in range(len(servos)): servo_times[i] = await calibrate_servo_time(halls[i], servos[i], 40) print(servo_times) async def main(): uasyncio.create_task(led_flash(led_plus, 500, 12)) uasyncio.create_task(led_flash(led_minus, 500, 12)) uasyncio.create_task(led_flash(led_multiply, 500, 12)) uasyncio.create_task(led_flash(led_divide, 500, 12)) # Calibarte all servos await calibrate_all() # Start the coroutine for keyboard inputs uasyncio.create_task(read_keyboard()) await uasyncio.sleep_ms(2000) # MAIN LOOP while True: await uasyncio.sleep(30.0) # Entry point to the task list uasyncio.run(main())