1  # SPDX-FileCopyrightText: 2018 Dave Astels for Adafruit Industries
 2  #
 3  # SPDX-License-Identifier: MIT
 4  
 5  import time
 6  import busio
 7  import board
 8  import pulseio
 9  import adafruit_irremote
10  import adafruit_lis3dh
11  
12  # Control debug output: it takes time so don't unless you're debugging
13  DEBUG_LOG = False
14  
15  # Control codes
16  STOP = 0x01
17  ROTATE_LEFT = 0x02
18  ROTATE_RIGHT = 0x03
19  FORWARD = 0x04
20  FORWARD_LEFT = 0x05
21  FORWARD_RIGHT = 0x06
22  REVERSE = 0x07
23  REVERSE_LEFT = 0x08
24  REVERSE_RIGHT = 0x09
25  
26  TRANSMIT_DELAY = 0.1
27  
28  # Setup accelerometer
29  i2c = busio.I2C(board.ACCELEROMETER_SCL, board.ACCELEROMETER_SDA)
30  sensor = adafruit_lis3dh.LIS3DH_I2C(i2c, address=0x19)
31  
32  # Create a 'pulseio' output, to send infrared signals on the IR transmitter @ 38KHz
33  pulseout = pulseio.PulseOut(board.IR_TX, frequency=38000, duty_cycle=2 ** 15)
34  
35  # Create an encoder that will take numbers and turn them into IR pulses
36  encoder = adafruit_irremote.GenericTransmit(header=[9500, 4500],
37                                              one=[550, 550],
38                                              zero=[550, 1700],
39                                              trail=0)
40  
41  def log(s):
42      """Optionally output some text.
43      :param string s: test to output
44      """
45      if DEBUG_LOG:
46          print(s)
47  
48  
49  while True:
50      x, y, z = sensor.acceleration
51      log("{0: 0.3f} {1: 0.3f} {2: 0.3f}".format(x, y, z))
52      if z < -5.0 and abs(y) < 3.0:         # palm down
53          if x < -5.0:                      # tipped counterclockwise
54              log("ROTATE_LEFT")
55              encoder.transmit(pulseout, [ROTATE_LEFT] * 4)
56          elif x > 5.0:                     # tipped clockwise
57              log("ROTATE_RIGHT")
58              encoder.transmit(pulseout, [ROTATE_RIGHT] * 4)
59          else:                             # level
60              log("STOP")
61              encoder.transmit(pulseout, [STOP] * 4)
62      elif y > 5.0:                         # palm facing away
63          if x < -5.0:                      # tipped counterclockwise
64              log("FORWARD_LEFT")
65              encoder.transmit(pulseout, [FORWARD_LEFT] * 4)
66          elif x > 5.0:                     # tipped clockwise
67              log("FORWARD_RIGHT")
68              encoder.transmit(pulseout, [FORWARD_RIGHT] * 4)
69          else:                             # straight up
70              log("FORWARD")
71              encoder.transmit(pulseout, [FORWARD] * 4)
72      elif y < -5.0:                        # palm facing toward (hand down)
73          if x < -5.0:                      # tipped counterclockwise
74              log("REVERSE_RIGHT")
75              encoder.transmit(pulseout, [REVERSE_RIGHT] * 4)
76          elif x > 5.0:                     # tipped clockwise
77              log("REVERSE_LEFT")
78              encoder.transmit(pulseout, [REVERSE_LEFT] * 4)
79          else:                             #straight down
80              log("REVERSE")
81              encoder.transmit(pulseout, [REVERSE] * 4)
82  
83      time.sleep(TRANSMIT_DELAY)