Simulation Mouse + Motor Control

commutator_sim.py

from machine import Pin, PWM
import time
import random
import uasyncio

t0 = 0
ref0 = 0
pinpwmin = Pin(5,Pin.IN)
pindir = Pin(6,Pin.IN)

def callback1(pin):
    global t0, pinpwmin
    t0 = time.ticks_us()
    pinpwmin.irq(trigger=Pin.IRQ_FALLING, handler=callback2)
    
def callback2(pin):
    global t0, pinpwmin
    global ref0
    ref0 = time.ticks_us() - t0
    pinpwmin.irq(trigger=Pin.IRQ_RISING, handler=callback1)
    
pinpwmin.irq(trigger=Pin.IRQ_RISING, handler=callback1)

nowdeg = 0
newdeeg = 0
pwmout1 = 0
offset = 0
led = PWM(Pin(0))
led.freq(1000)

def rodan_dir(odir):
    rstay = random.randint(0, 100);
    if (rstay > 90):
        rdir = random.randint(0, 100);
        if (rdir > 50):
            return 1
        else:
            return 0
    else:
        return odir
    
async def rodan_move():
    global nowdeg, newdeg
    global ref0, pwmout1
    rstep = 0.4
    rdir = 0
    while(True):
        rforce = random.randint(0, 10)
        rdir = rodan_dir(rdir)
        mmovedeg = rforce*rstep
        if (rdir == 0):
            newdeg = nowdeg + mmovedeg
        else:
            newdeg = nowdeg - mmovedeg
        if (newdeg >= 360):
            newdeg -= 360
        if (newdeg < 0):
            newdeg += 360
        pwmout1 = int(newdeg*182)
        await uasyncio.sleep_ms(50)
    
async def motor_control():
    global nowdeg, newdeg, rdir
    global ref0, pwmout1, offset
    while(True):
        refdir = pindir.value()
        offset = int(ref0)
        if (refdir == 1):
            offset = -offset
        else:
            offset = offset
        await uasyncio.sleep_ms(10)
    
async def combine(control=1):
    global nowdeg, newdeg, rdir
    global ref0, pwmout1, offset
    while(True):
        if (control == 1):
            pwmout2 = pwmout1 + offset
            led.duty_u16(pwmout2)     #max 65535
            nowdeg = int(pwmout2/182)
        else:
            led.duty_u16(pwmout1)     #max 65535
            nowdeg = newdeg
        await uasyncio.sleep_ms(10)
        
async def main():
    uasyncio.create_task(rodan_move())
    uasyncio.create_task(motor_control())
    uasyncio.create_task(combine(control=1))
    await uasyncio.sleep_ms(1000*60*60)
    
uasyncio.run(main())
    #print(newdeg, pwmout1, rdir, mmovedeg, pwmout2, refdir, offset)