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from machine import Pin
from machine import PWM
from time import sleep
import gc
from rp2 import *
# Enable debug messages over serial (a bit slower)
DEBUG = 0
DEBUG2 = 0
# Enable canbus output
CANBUS = 1
CAN1 = CAN()
FAN1 = PWM(Pin(20))
FAN1.freq(25000)
LED1 = Pin(25, Pin.OUT)
IN1 = Pin(16,Pin.OUT)
IN2 = Pin(17,Pin.OUT)
IN3 = Pin(18,Pin.OUT)
IN4 = Pin(19,Pin.OUT)
PINS = [IN1, IN2, IN3, IN4]
sequence = [[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]]
sequence_reverse = [[0,0,0,1],[0,0,1,0],[0,1,0,0],[1,0,0,0]]
allpinsoff = [0,0,0,0]
FAN1.duty_u16(25000)
sleep(5)
FAN1.duty_u16(0)
sleep(2)
# CIRCLE = 1024
CURRENTSTEP=0
NEXTSTEP=0
FORWARD=0
REVERSE=0
TMIN=18
TMAX=33
# 18=0
# x=((1024/25)*(t-TMIN)):1
#x=((1024/25)*(t-TMIN)):1
while True:
if CANBUS:
frames=CAN1.recv()
for frame in frames:
mycid=frame.get_arbitration_id()
if mycid == 48: ######################################
rawdata=frame.get_data()
lefttemp=int(((rawdata[0])/2.4))
righttemp=int(((rawdata[1])/2.4))
combtemp=int(((rawdata[2])/2.4))
#print(combtemp)
#
fanspeed=rawdata[4]
# fan handling
#print(fanspeed)
# fanspeed is 0-255
# transform into duty cycle
# 0 is 5000
# 255 is 25000
# aka 20000 range
if fanspeed == 0:
dutycycle=0
FAN1.duty_u16(dutycycle)
else:
# approximation ... 19890 = 24890 ~ 25000
dutycycle=( 5000 + ( 78 * int(fanspeed) ) )
FAN1.duty_u16(dutycycle)
print(dutycycle)
# temp handlingv
NEXTSTEP=int(combtemp*1024/100)
if NEXTSTEP > CURRENTSTEP:
FORWARD=1
count=int(NEXTSTEP-CURRENTSTEP)
while count > 0:
for step in sequence:
for i in range(len(PINS)):
PINS[i].value(step[i])
sleep(0.001)
count=count-1
else:
FORWARD=0
count=int(CURRENTSTEP-NEXTSTEP)
while count > 0:
for step in sequence_reverse:
for i in range(len(PINS)):
PINS[i].value(step[i])
sleep(0.001)
count=count-1
#
for i in range(len(PINS)):
PINS[i].value(allpinsoff[i])
CURRENTSTEP=NEXTSTEP
LED1.toggle()
else:
LED1.toggle()
#print(frame)
#x=frame.get_data()
#int result = ((0xF0 - 0x10) / 15) * (value - 15) + 0x10;
# x / (0xF0/0x10) = (y - 15) + 0x10
#lefttemp=int((x[0]/(224/16))+15-1)
#righttemp=int((x[1]/(224/16))+15-1)
#fanspeed=x[4]
count=512
while count > 0:
for step in sequence:
for i in range(len(PINS)):
PINS[i].value(step[i])
sleep(0.001)
count=count-1
# print(lefttemp)
# print(righttemp)
# print(fanspeed)
for i in range(len(PINS)):
PINS[i].value(allpinsoff[i])
sleep(0.2)
count=512
while count > 0:
for step in sequence_reverse:
for i in range(len(PINS)):
PINS[i].value(step[i])
sleep(0.001)
count=count-1
for i in range(len(PINS)):
PINS[i].value(allpinsoff[i])
sleep(1)
if DEBUG:
# debug output on serial is slower
sleep(0.05)
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