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Dario Cammi
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Added examples
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‎examples/active_motor.py

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import board
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import asyncio
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from buildhat.hat import Hat
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from buildhat.motors.speedunit import SpeedUnit
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from buildhat.motors.direction import Direction
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motor_port = 3
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# Pins for Waveshare RP2040-Zero.
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# Change the pins if you are using a different board
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tx_pin = board.TX
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rx_pin = board.RX
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reset_pin = board.GP23
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buildhat = Hat(tx=tx_pin, rx=rx_pin, reset=reset_pin, debug=True)
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stop = False
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async def buildhat_loop(hat):
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while not stop:
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hat.update()
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await asyncio.sleep(0)
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async def data_loop(hat):
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motor = buildhat.get_device(motor_port)
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motor.data_update_interval = 10
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while not stop:
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if motor.has_absolute_position:
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print(f"Speed: {motor.actual_speed} °/s, Pos: {motor.actual_position}°, APos: {motor.actual_absolute_position}°")
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else:
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print(f"Speed: {motor.actual_speed} °/s, Pos: {motor.actual_position}°")
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await asyncio.sleep(0.1)
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async def motor_loop(hat):
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motor = buildhat.get_device(motor_port)
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motor.power_limit = 1
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motor.release_after_run = True # The motor is free to spin after the movement is done
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while not stop:
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motor.run_command_speed_unit = SpeedUnit.DGS # degrees per second
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motor.run_command_default_speed = 120 # Default speed when not specified in the run command
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await motor.run_for_rotations(2) # Use default speed (90 DGS)
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await motor.run_for_rotations(2, speed = 180) # Run at speed 4180 DGS
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await motor.run_for_degrees(90) # Turn 90 degree from current position
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await motor.run_for_degrees(-90, speed = 180) # Turn back 90 degree from current postion
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motor.actual_position = 0 # Preset actual_position and change it to 0
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await motor.run_to_position(720, speed=360) # Run the motor at the position 720 degree
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motor.run_command_speed_unit = SpeedUnit.RPM # revolutions per second
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if motor.has_absolute_position:
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# Not all motors have the absolute position
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# Absolute position cover one turn from -180 to 180 degree
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await motor.run_to_absolute_angle(0, speed = 60)
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await motor.run_to_absolute_angle(-30, speed = 120, direction=Direction.CW)
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await motor.run_to_absolute_angle(-170, speed = 90, direction=Direction.CCW)
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await motor.run_to_absolute_angle(170, speed = 120, direction=Direction.SHORTEST)
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await motor.run_for_seconds(5) # Spin the motor for 5 seconds
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motor.start(speed = 120) # Start the motor to run indefinitely
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await asyncio.sleep(2)
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motor.stop() # Stop and leaving floating
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await asyncio.sleep(1)
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motor.pwm(1) # Spin the motor open loop at max speed. All previous mode were close loop
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await asyncio.sleep(2)
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motor.coast() # Let the motor coast to a stop
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await asyncio.sleep(2)
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motor.reverse_direction = not motor.reverse_direction
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async def main():
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buildhat_loop_task = asyncio.create_task(buildhat_loop(buildhat))
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data_loop_task = asyncio.create_task(data_loop(buildhat))
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motor_loop_task = asyncio.create_task(motor_loop(buildhat))
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await asyncio.gather(buildhat_loop_task, data_loop_task, motor_loop_task)
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asyncio.run(main())

‎examples/color_distance_sensor.py

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'''
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Test code for Boost color & distance sensor
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Part number: 88007
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'''
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import board
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import asyncio
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from buildhat.hat import Hat
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from buildhat.devices.color import Color
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sensor_port = 1
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# Pins for Waveshare RP2040-Zero.
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# Change the pins if you are using a different board
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tx_pin = board.TX
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rx_pin = board.RX
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reset_pin = board.GP23
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buildhat = Hat(tx=tx_pin, rx=rx_pin, reset=reset_pin, debug=True)
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stop = False
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async def buildhat_loop(hat):
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while not stop:
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hat.update()
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await asyncio.sleep(0)
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async def read_loop(hat):
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sensor = buildhat.get_device(sensor_port)
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while not stop:
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color = await sensor.get_color()
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print(f"Color: {color}")
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ambient_light = await sensor.get_ambient_light()
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print(f"Ambient light: {ambient_light}")
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reflected = await sensor.get_reflected_light()
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print(f"Reflected light: {reflected}")
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distance = await sensor.get_distance()
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print(f"Distance: {distance}")
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counter = await sensor.get_counter()
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print(f"Counter: {counter}")
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sensor.off()
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print(f"Sensor off")
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await asyncio.sleep(1)
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sensor.on()
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print(f"Sensor on")
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await asyncio.sleep(1)
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async def main():
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buildhat_loop_task = asyncio.create_task(buildhat_loop(buildhat))
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read_loop_task = asyncio.create_task(read_loop(buildhat))
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await asyncio.gather(buildhat_loop_task, read_loop_task)
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asyncio.run(main())

‎examples/distance_sensor.py

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'''
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Test code for Lego Technic Distance Sensor
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Part number: 6302968
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'''
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import board
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import asyncio
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from buildhat.hat import Hat
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sensor_port = 0
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# Pins for Waveshare RP2040-Zero.
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# Change the pins if you are using a different board
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tx_pin = board.TX
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rx_pin = board.RX
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reset_pin = board.GP23
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buildhat = Hat(tx=tx_pin, rx=rx_pin, reset=reset_pin, debug=True)
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stop = False
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async def buildhat_loop(hat):
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while not stop:
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hat.update()
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await asyncio.sleep(0)
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async def read_loop(hat):
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sensor = buildhat.get_device(sensor_port)
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while not stop:
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d = sensor.distance
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if d > 0:
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print(f"Distance {d} mm")
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else:
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print("Please put an obstacle in front of the ultrasonic sensor")
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await asyncio.sleep(0.2)
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async def eyes_loop(hat):
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sensor = buildhat.get_device(sensor_port)
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pause = 0.02
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while not stop:
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# Drive all four eyes together
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for i in range(100):
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sensor.eyes(i)
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await asyncio.sleep(pause)
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# Drive all four eyes one a the time
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for i in range(100):
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sensor.eyes(i, 0, 0, 0)
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await asyncio.sleep(pause)
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for i in range(100):
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sensor.eyes(0, i, 0, 0)
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await asyncio.sleep(pause)
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for i in range(100):
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sensor.eyes(0, 0, i, 0)
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await asyncio.sleep(pause)
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for i in range(100):
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sensor.eyes(0, 0, 0, i)
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await asyncio.sleep(pause)
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async def main():
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buildhat_loop_task = asyncio.create_task(buildhat_loop(buildhat))
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read_loop_task = asyncio.create_task(read_loop(buildhat))
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eyes_loop_task = asyncio.create_task(eyes_loop(buildhat))
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await asyncio.gather(buildhat_loop_task, read_loop_task, eyes_loop_task)
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asyncio.run(main())

‎examples/light_matrix.py

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'''
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Test code for Lego Technic 3x3 Color Light Matrix
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Part number: 45608
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'''
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import board
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import asyncio
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from buildhat.hat import Hat
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from buildhat.devices.matrixcolor import MatrixColor
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from buildhat.devices.matrixtransition import MatrixTransition
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matrix_port = 2
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# Pins for Waveshare RP2040-Zero.
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# Change the pins if you are using a different board
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tx_pin = board.TX
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rx_pin = board.RX
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reset_pin = board.GP23
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buildhat = Hat(tx=tx_pin, rx=rx_pin, reset=reset_pin, debug=True)
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stop = False
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async def buildhat_loop(hat):
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while not stop:
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hat.update()
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await asyncio.sleep(0)
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async def matrix_loop(hat):
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while not stop:
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matrix = buildhat.get_device(matrix_port)
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matrix.display_single_color(MatrixColor.YELLOW)
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await asyncio.sleep(1)
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for i in range(10):
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matrix.display_level_bar(i)
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await asyncio.sleep(0.3)
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matrix.set_display_image_transition(MatrixTransition.SWIPE_RTL)
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matrix.display_single_color(MatrixColor.YELLOW)
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await asyncio.sleep(2)
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matrix.display_single_color(MatrixColor.BLUE)
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await asyncio.sleep(2)
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matrix.display_single_color(MatrixColor.RED)
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await asyncio.sleep(2)
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matrix.set_display_image_transition(MatrixTransition.FADE_IN_OUT)
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matrix.fill_pixels(MatrixColor.YELLOW, 5)
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matrix.set_pixel(1, 1, MatrixColor.BLUE, 10)
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matrix.display_pixels()
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await asyncio.sleep(2)
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matrix.fill_pixels(MatrixColor.YELLOW, 5)
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matrix.set_pixel(0, 0, MatrixColor.BLUE, 10)
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matrix.set_pixel(2, 2, MatrixColor.BLUE, 10)
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matrix.display_pixels()
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await asyncio.sleep(2)
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matrix.fill_pixels(MatrixColor.YELLOW, 5)
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matrix.set_pixel(0, 0, MatrixColor.BLUE, 10)
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matrix.set_pixel(1, 1, MatrixColor.BLUE, 10)
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matrix.set_pixel(2, 2, MatrixColor.BLUE, 10)
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matrix.display_pixels()
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await asyncio.sleep(2)
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matrix.set_display_image_transition(MatrixTransition.NONE)
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matrix.fill_pixels(MatrixColor.YELLOW, 5)
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matrix.set_pixel(0, 0, MatrixColor.BLUE, 10)
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matrix.set_pixel(0, 2, MatrixColor.BLUE, 10)
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matrix.set_pixel(2, 2, MatrixColor.BLUE, 10)
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matrix.set_pixel(2, 0, MatrixColor.BLUE, 10)
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matrix.display_pixels()
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await asyncio.sleep(2)
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async def main():
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buildhat_loop_task = asyncio.create_task(buildhat_loop(buildhat))
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matrix_loop_task = asyncio.create_task(matrix_loop(buildhat))
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await asyncio.gather(buildhat_loop_task, matrix_loop_task)
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asyncio.run(main())

‎examples/test_color_sensor.py

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'''
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Test code for color sensor
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Part number: 6217705
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'''
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import board
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import asyncio
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from buildhat.hat import Hat
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sensor_port = 0
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# Pins for Waveshare RP2040-Zero.
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# Change the pins if you are using a different board
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tx_pin = board.TX
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rx_pin = board.RX
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reset_pin = board.GP23
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buildhat = Hat(tx=tx_pin, rx=rx_pin, reset=reset_pin, debug=True)
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stop = False
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async def buildhat_loop(hat):
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while not stop:
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hat.update()
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await asyncio.sleep(0)
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async def read_loop(hat):
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sensor = buildhat.get_device(sensor_port)
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while not stop:
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color = await sensor.get_color()
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print(f"Color: {color}")
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ambient_light = await sensor.get_ambient_light()
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print(f"Ambient light: {ambient_light}")
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reflected = await sensor.get_reflected_light()
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print(f"Reflected light: {reflected}")
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sensor.off()
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print(f"Sensor off")
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await asyncio.sleep(1)
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sensor.on()
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print(f"Sensor on")
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await asyncio.sleep(1)
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async def main():
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buildhat_loop_task = asyncio.create_task(buildhat_loop(buildhat))
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read_loop_task = asyncio.create_task(read_loop(buildhat))
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await asyncio.gather(buildhat_loop_task, read_loop_task)
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asyncio.run(main())

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