"""

Auteur: Yohan Chalier
Interface: microbit
Nom du projet: Robot explorateur
Description: No-description
Toolbox: vittascience
Mode: mixed
Blocks: <xml xmlns="https://developers.google.com/blockly/xml"><block type="on_start" id="G[=T#8yqB70`NFgYq}GP" deletable="false" x="-12" y="-13"></block><block type="forever" id="o[WN]+eeF.OUxGch67@8" x="-13" y="163"><statement name="DO"><block type="controls_if" id="4T/9z)PldB,,e`7[eJh*"><mutation else="1"></mutation><value name="IF0"><block type="logic_compare" id="d;#TZQ#k+4HvN_L,bCxh"><field name="OP">LT</field><value name="A"><block type="robots_getMaqueenUltrasonicRanger" id="T0TA4rn_w57(^FT+6VLK"><field name="DATA">distance</field></block></value><value name="B"><shadow type="math_number" id="mZIqk0?myojIQq[8acJT"><field name="NUM">5</field></shadow></value></block></value><statement name="DO0"><block type="robots_controlMaqueenMotor" id="Y|pLIm4|TIIe0SKuCK5="><field name="MOTOR">0x00</field><field name="DIR">0x0</field><value name="SPEED"><shadow type="math_number" id="a50NhU1xcc%NTRd!r?LZ"><field name="NUM">100</field></shadow></value><next><block type="robots_controlMaqueenMotor" id="O,(S4SJ8s=eAjKsmVJVn"><field name="MOTOR">0x02</field><field name="DIR">0x1</field><value name="SPEED"><shadow type="math_number" id="cPYsQUCBA4+E)}$2C0ES"><field name="NUM">100</field></shadow></value><next><block type="show_leds" id="u5T1e4_2-5kx]BPIsSSM"><field name="LED00">FALSE</field><field name="LED01">FALSE</field><field name="LED02">TRUE</field><field name="LED03">FALSE</field><field name="LED04">FALSE</field><field name="LED10">FALSE</field><field name="LED11">FALSE</field><field name="LED12">FALSE</field><field name="LED13">TRUE</field><field name="LED14">FALSE</field><field name="LED20">TRUE</field><field name="LED21">TRUE</field><field name="LED22">TRUE</field><field name="LED23">TRUE</field><field name="LED24">TRUE</field><field name="LED30">FALSE</field><field name="LED31">FALSE</field><field name="LED32">FALSE</field><field name="LED33">TRUE</field><field name="LED34">FALSE</field><field name="LED40">FALSE</field><field name="LED41">FALSE</field><field name="LED42">TRUE</field><field name="LED43">FALSE</field><field name="LED44">FALSE</field><next><block type="io_pause" id="T%r:yqdNpm|y+QzK{ian"><field name="UNIT">SECOND</field><value name="TIME"><shadow type="math_number" id="@v6D)R;x^hE_;ivlq]4}"><field name="NUM">0.5</field></shadow></value></block></next></block></next></block></next></block></statement><statement name="ELSE"><block type="robots_controlMaqueenMotor" id="]lSe7r5RW$@#-zr`w.L5"><field name="MOTOR">0x00</field><field name="DIR">0x0</field><value name="SPEED"><shadow type="math_number" id="kqvun2)-|XsEv?q}$,.|"><field name="NUM">100</field></shadow></value><next><block type="robots_controlMaqueenMotor" id="p[#,sn2g3!/;WFG]VP2J"><field name="MOTOR">0x02</field><field name="DIR">0x0</field><value name="SPEED"><shadow type="math_number" id="_rZYh]C~n_cG;`S(@7lz"><field name="NUM">100</field></shadow></value><next><block type="show_leds" id="|rb#~xOu4`DwQDmF_O@V"><field name="LED00">FALSE</field><field name="LED01">FALSE</field><field name="LED02">TRUE</field><field name="LED03">FALSE</field><field name="LED04">FALSE</field><field name="LED10">FALSE</field><field name="LED11">TRUE</field><field name="LED12">TRUE</field><field name="LED13">TRUE</field><field name="LED14">FALSE</field><field name="LED20">TRUE</field><field name="LED21">FALSE</field><field name="LED22">TRUE</field><field name="LED23">FALSE</field><field name="LED24">TRUE</field><field name="LED30">FALSE</field><field name="LED31">FALSE</field><field name="LED32">TRUE</field><field name="LED33">FALSE</field><field name="LED34">FALSE</field><field name="LED40">FALSE</field><field name="LED41">FALSE</field><field name="LED42">TRUE</field><field name="LED43">FALSE</field><field name="LED44">FALSE</field></block></next></block></next></block></statement></block></statement></block></xml>

Projet généré par Vittascience.

Ce fichier contient le code textuel ainsi que le code blocs. Il peut être importé de nouveau
sur l'interface http://vittascience.com/microbit/

"""

from microbit import *
from machine import time_pulse_us
import utime

""" Maqueen robot """

def getUltrasonicData(trig, echo, data='distance', timeout_us=30000):
  trig.write_digital(0)
  utime.sleep_us(2)
  trig.write_digital(1)
  utime.sleep_us(10)
  trig.write_digital(0)
  echo.read_digital()
  duration = time_pulse_us(echo, 1, timeout_us)/1e6 # t_echo in seconds
  if duration > 0:
    if data == 'distance':
      #sound speed, round-trip/2, get in cm
      return 343 * duration/2 * 100
    elif data == 'duration':
      return duration
    else:
      raise ValueError("Data option '" + data + "' is not valid")
  else:
    return -1

while True:
  if getUltrasonicData(pin1, pin2, 'distance') < 5:
    i2c.write(0x10, bytearray([0x00, 0x0, 100]))
    i2c.write(0x10, bytearray([0x02, 0x1, 100]))
    led_image = Image('00900:00090:99999:00090:00900')
    display.show(led_image)
    utime.sleep(0.5)
  else:
    i2c.write(0x10, bytearray([0x00, 0x0, 100]))
    i2c.write(0x10, bytearray([0x02, 0x0, 100]))
    led_image = Image('00900:09990:90909:00900:00900')
    display.show(led_image)