package com.doumee.core.utils; import java.security.MessageDigest; /** * Created by IntelliJ IDEA. * * @Author : Rk * @create 2023/2/16 11:28 */ public class Sha1Util { public static void main(String[] args) { System.out.println(getSha1("# Date 2023.07\n" + "# Name QianJin Yang\n" + "\n" + "'''\n" + "# 版本信息：\n" + "# 修改：增加瓦力语音模块 库函数 tx=17 初始化设置\n" + "# \n" + "# 删减：合并了基于PCA9685舵机、电机控制函数库，为servos库函数增加_pin()、motorSpeed()控制函数\n" + "#\n" + "# 新增：点阵屏控制函数库文件\n" + "# 基于GC7219主控核心点阵屏级联控制函数\n" + "# 数值、字符、自定义表情的静态、动态显示控制\n" + "'''\n" + "\n" + "import ustruct,math,framebuf\n" + "from machine import I2C,SPI,UART,PWM,time_pulse_us,Pin\n" + "from micropython import const\n" + "from time import sleep, sleep_us, sleep_ms\n" + "\n" + "\n" + "_DC_MOTORS = ((8, 9, 10), (11, 12, 13))\n" + "\n" + "class PCA9685:\n" + " def __init__(self, i2c, address=0x40):\n" + " self.i2c = i2c\n" + " self.address = address\n" + " self.reset()\n" + "\n" + " def _write(self, address, value):\n" + " self.i2c.writeto_mem(self.address, address, bytearray([value]))\n" + "\n" + " def _read(self, address):\n" + " return self.i2c.readfrom_mem(self.address, address, 1)[0]\n" + "\n" + " def reset(self):\n" + " self._write(0x00, 0x00) # Mode1\n" + "\n" + " def freq(self, freq=None):\n" + " if freq is None:\n" + " return int(25000000.0 / 4096 / (self._read(0xfe) - 0.5))\n" + " prescale = int(25000000.0 / 4096.0 / freq + 0.5)\n" + " old_mode = self._read(0x00) # Mode 1\n" + " self._write(0x00, (old_mode & 0x7F) | 0x10) # Mode 1, sleep\n" + " self._write(0xfe, prescale) # Prescale\n" + " self._write(0x00, old_mode) # Mode 1\n" + " sleep_us(5)\n" + " self._write(0x00, old_mode | 0xa1) # Mode 1, autoincrement on\n" + "\n" + " def pwm(self, index, on=None, off=None):\n" + " if on is None or off is None:\n" + " data = self.i2c.readfrom_mem(self.address, 0x06 + 4 * index, 4)\n" + " return ustruct.unpack(' 0:\n" + " # Backward\n" + " self._pin(in1, False)\n" + " self._pin(in2, True)\n" + " else:\n" + " # Release\n" + " self._pin(in1, False)\n" + " self._pin(in2, False)\n" + " self.pca9685.duty(pwm, abs(value))\n" + " \n" + " def release(self, index):\n" + " self.pca9685.duty(index, 0)\n" + "\n" + "class Motors:\n" + " def __init__(self,robotType):\n" + " self.robotType = robotType\n" + " self.motorPin = None\n" + " if self.robotType == 'marsCar':\n" + " self.motorPin = ((21,19),(26,25),(23,22),(33,32)) # 火星电机1~4接口对应ESP32的引脚\n" + " if self.robotType == 'mecanumCar':\n" + " self.motorPin = ((21,19),(23,22),(25,26),(32,33)) # 麦轮电机1~4接口对应ESP32的引脚\n" + " \n" + " def motorRuning(self,motorNum,speedVal):\n" + " if speedVal >= 0: # 顺时针\n" + " PWM(Pin(self.motorPin[motorNum][0]), freq=40000, duty=0)\n" + " PWM(Pin(self.motorPin[motorNum][1]), freq=40000, duty=speedVal)\n" + " else: # 逆时针\n" + " PWM(Pin(self.motorPin[motorNum][0]), freq=40000, duty=-speedVal)\n" + " PWM(Pin(self.motorPin[motorNum][1]), freq=40000, duty=0)\n" + "\n" + "class PS2: \n" + " def __init__(self):\n" + " self.psb_key_value = {\n" + " \"NO_KEY_PRESS\": 0xFF,\n" + " \"NO_KEY_PRESS_ERR\": 0x00,\n" + " \"REPEATED_KEY_PRESS\": 0xFE,\n" + " \"PSB_PAD_UP\": 0x10,\n" + " \"PSB_PAD_DOWN\": 0x11,\n" + " \"PSB_PAD_LEFT\": 0x12,\n" + " \"PSB_PAD_RIGHT\": 0x13,\n" + " \"PSB_GREEN\": 0x14,\n" + " \"PSB_BLUE\": 0x15,\n" + " \"PSB_RED\": 0x16,\n" + " \"PSB_PINK\": 0x17,\n" + " \"PSB_L1\": 0x18,\n" + " \"PSB_R1\": 0x19,\n" + " \"PSB_L2\": 0x1A,\n" + " \"PSB_R2\": 0x1B,\n" + " \"PSB_LX1\": 0x1C,\n" + " \"PSB_LX2\": 0x1D,\n" + " \"PSB_LY1\": 0x1E,\n" + " \"PSB_LY2\": 0x1F,\n" + " \"PSB_RX1\": 0x20,\n" + " \"PSB_RX2\": 0x21,\n" + " \"PSB_RY1\": 0x22,\n" + " \"PSB_RY2\": 0x23,\n" + " \"MPSB_PAD_UP\": 0x30,\n" + " \"MPSB_PAD_DOWN\": 0x31,\n" + " \"MPSB_PAD_LEFT\": 0x32,\n" + " \"MPSB_PAD_RIGHT\": 0x33,\n" + " \"MPSB_GREEN\": 0x34,\n" + " \"MPSB_BLUE\": 0x35,\n" + " \"MPSB_RED\": 0x36,\n" + " \"MPSB_PINK\": 0x37,\n" + " \"MPSB_L1\": 0x38,\n" + " \"MPSB_R1\": 0x39,\n" + " \"MPSB_L2\": 0x3A,\n" + " \"MPSB_R2\": 0x3B,\n" + " \"MPSB_LX1\": 0x3C,\n" + " \"MPSB_LX2\": 0x3D,\n" + " \"MPSB_LY1\": 0x3E,\n" + " \"MPSB_LY2\": 0x3F,\n" + " \"MPSB_RX1\": 0x40,\n" + " \"MPSB_RX2\": 0x41,\n" + " \"MPSB_RY1\": 0x42,\n" + " \"MPSB_RY2\": 0x43,\n" + " }\n" + "\n" + " self.psb_slowkey_value = {\n" + " \"PSB_GREEN\": 0x14,\n" + " \"PSB_BLUE\": 0x15,\n" + " \"PSB_RED\": 0x16,\n" + " \"PSB_PINK\": 0x17,\n" + " }\n" + " self.no_key_press_cnt = 0\n" + " self.key_val_last = self.psb_key_value[\"NO_KEY_PRESS\"]\n" + " self.key_val_now = self.psb_key_value[\"NO_KEY_PRESS\"]\n" + " self.psbkey_val = self.psb_key_value[\"NO_KEY_PRESS\"]\n" + "\n" + " self.spi_usb = SPI(1, baudrate=2500, polarity=0, phase=0, sck=Pin(14), miso=Pin(12)) # 引脚定义\n" + " self.spi_usb_cs = Pin(13, Pin.OUT)\n" + " self.spi_usb_cs.value(1)\n" + "\n" + " def get_psbkey_value(self):\n" + " psb_slowkey_value = self.psb_slowkey_value\n" + " psb_key_value = self.psb_key_value\n" + " spi_usb_cs = self.spi_usb_cs\n" + " spi_usb = self.spi_usb\n" + " no_key_press_cnt = self.no_key_press_cnt\n" + " key_val_last = self.key_val_last\n" + " key_val_now = self.key_val_now\n" + " \n" + " spi_usb_cs.value(0)\n" + " spi_usb.read(2)\n" + " spi_usb_cs.value(1)\n" + " spi_usb_cs.value(0)\n" + " usbkey_value = spi_usb.read(5)\n" + " spi_usb_cs.value(1)\n" + " if (usbkey_value[2] == psb_key_value[\"NO_KEY_PRESS\"]) or (usbkey_value[2] == psb_key_value[\"NO_KEY_PRESS_ERR\"]):\n" + " no_key_press_cnt += 1\n" + " if no_key_press_cnt > 4:\n" + " no_key_press_cnt = 0\n" + " no_key_press_flag = 1\n" + " key_val_now = psb_key_value[\"NO_KEY_PRESS\"]\n" + " key_val_last = psb_key_value[\"NO_KEY_PRESS\"]\n" + " return psb_key_value[\"NO_KEY_PRESS\"]\n" + " else:\n" + " if key_val_last in psb_slowkey_value.values():\n" + " return psb_key_value[\"REPEATED_KEY_PRESS\"]\n" + " else:\n" + " return key_val_last\n" + " elif usbkey_value[2] in psb_slowkey_value.values():\n" + " no_key_press_cnt = 0\n" + " key_val_now = usbkey_value[2]\n" + " if key_val_now != key_val_last:\n" + " key_val_last = usbkey_value[2]\n" + " return usbkey_value[2]\n" + " else:\n" + " return psb_key_value[\"REPEATED_KEY_PRESS\"]\n" + " else:\n" + " no_key_press_cnt = 0\n" + " key_val_now = usbkey_value[2]\n" + " key_val_last = usbkey_value[2]\n" + " return usbkey_value[2]\n" + "\n" + "\n" + "class HCSR04:\n" + " def __init__(self,echo_timeout_us=500*2*30):\n" + " self.echo_timeout_us = echo_timeout_us\n" + " self.pinList = [[19,18],[23,22]] # 超声波[Trig,Echo]引脚列表\n" + "\n" + " def _send_pulse_and_wait(self,flag):\n" + " self.trigger = Pin(self.pinList[flag][0], mode=Pin.OUT, pull=None)#trig\n" + " self.trigger.value(0)\n" + " self.echo = Pin(self.pinList[flag][1], mode=Pin.IN, pull=None)#echo \n" + " \n" + " self.trigger.value(0) \n" + " sleep_us(5)\n" + " self.trigger.value(1)\n" + " sleep_us(10)\n" + " self.trigger.value(0)\n" + " try:\n" + " pulse_time = time_pulse_us(self.echo, 1, self.echo_timeout_us)\n" + " if pulse_time < 0:\n" + " MAX_RANGE_IN_CM = const(500) \n" + " pulse_time = int(MAX_RANGE_IN_CM * 29.1)\n" + " return pulse_time\n" + " except OSError as ex:\n" + " if ex.args[0] == 110:\n" + " raise OSError('Out of range')\n" + " raise ex\n" + "\n" + " def getDistance(self,flag1,flag2): # flag1接口,flag2精度 \n" + " pulse_time = self._send_pulse_and_wait(flag1)\n" + " distanceVal = 0\n" + " if flag2 == 0:\n" + " distanceVal = pulse_time * 100 // 582 #毫米\n" + " else:\n" + " distanceVal = (pulse_time / 2) / 29.1 #厘米\n" + " return distanceVal\n" + " \n" + "class Mp3Player:\n" + " def __init__(self,robotType):\n" + " self.robotType = robotType\n" + " self.uart = None\n" + " if self.robotType == 'waLi':\n" + " self.uart = UART(1, baudrate=9600, tx=17)\n" + " elif self.robotType == 'maiLun':\n" + " self.uart = UART(1, baudrate=9600, tx=4)\n" + "\n" + " def playMusic(self,musicNum):\n" + " voiceCmd = [(0x7E), (0x04), (0x03), (0x00), (musicNum), (0xEF)]\n" + " for i in voiceCmd:\n" + " data = bytes([i])\n" + " self.uart.write(data)\n" + "\n" + "class DHT20(object):\n" + " def __init__(self, i2c):\n" + " self.i2c = i2c\n" + " if (self.dht20_read_status() & 0x80) == 0x80:\n" + " self.dht20_init() \n" + " \n" + " def read_dht20(self):\n" + " self.i2c.writeto(0x38, bytes([0xac,0x33,0x00]))\n" + " sleep_ms(80)\n" + " cnt = 0\n" + " while (self.dht20_read_status() & 0x80) == 0x80:\n" + " sleep_ms(1)\n" + " if cnt >= 100:\n" + " cnt += 1\n" + " break\n" + " data = self.i2c.readfrom(0x38, 7, True)\n" + " n = []\n" + " for i in data[:]:\n" + " n.append(i)\n" + " return n\n" + " \n" + " def dht20_read_status(self):\n" + " data = self.i2c.readfrom(0x38, 1, True)\n" + " return data[0]\n" + " \n" + " def dht20_init(self):\n" + " i2c.writeto(0x38, bytes([0xa8,0x00,0x00]))\n" + " sleep_ms(10)\n" + " i2c.writeto(0x38, bytes([0xbe,0x08,0x00]))\n" + " \n" + " def calc_crc8(self,data):\n" + " crc = 0xff\n" + " for i in data[:-1]:\n" + " crc ^= i\n" + " for j in range(8):\n" + " if crc & 0x80:\n" + " crc = (crc << 1) ^ 0x31\n" + " else:\n" + " crc = (crc << 1)\n" + " return crc\n" + " \n" + " def dht20_temperature(self):\n" + " data = self.read_dht20()\n" + " Temper = 0\n" + " if 1:\n" + " Temper = (Temper | data[3]) << 8\n" + " Temper = (Temper | data[4]) << 8\n" + " Temper = Temper | data[5]\n" + " Temper = Temper & 0xfffff\n" + " Temper = (Temper * 200 * 10 / 1024 / 1024 - 500)/10\n" + " return Temper\n" + " def dht20_humidity(self):\n" + " \n" + " data = self.read_dht20()\n" + " humidity = 0\n" + " if 1:\n" + " humidity = (humidity | data[1]) << 8\n" + " humidity = (humidity | data[2]) << 8\n" + " humidity = humidity | data[3]\n" + " humidity = humidity >> 4\n" + " humidity = (humidity * 100 * 10 / 1024 / 1024)/10\n" + " return humidity\n" + "\n" + "\n" + "\n" + "TM1637_CMD1 = const(64) # 0x40 data command\n" + "TM1637_CMD2 = const(192) # 0xC0 address command\n" + "TM1637_CMD3 = const(128) # 0x80 display control command\n" + "TM1637_DSP_ON = const(8) # 0x08 display on\n" + "TM1637_DELAY = const(10) # 10us delay between clk/dio pulses\n" + "TM1637_MSB = const(128) # msb is the decimal point or the colon depending on your display\n" + "\n" + "# 0-9, a-z, blank, dash, star\n" + "_SEGMENTS = bytearray(b'\\x3F\\x06\\x5B\\x4F\\x66\\x6D\\x7D\\x07\\x7F\\x6F\\x77\\x7C\\x39\\x5E\\x79\\x71\\x3D\\x76\\x06\\x1E\\x76\\x38\\x55\\x54\\x3F\\x73\\x67\\x50\\x6D\\x78\\x3E\\x1C\\x2A\\x76\\x6E\\x5B\\x00\\x40\\x63')\n" + "\n" + "class TM1637(object):\n" + " \"\"\"Library for quad 7-segment LED modules based on the TM1637 LED driver.\"\"\"\n" + " def __init__(self, clk, dio, brightness=7):\n" + " self.clk = clk\n" + " self.dio = dio\n" + "\n" + " if not 0 <= brightness <= 7:\n" + " raise ValueError(\"Brightness out of range\")\n" + " self._brightness = brightness\n" + "\n" + " self.clk.init(Pin.OUT, value=0)\n" + " self.dio.init(Pin.OUT, value=0)\n" + " sleep_us(TM1637_DELAY)\n" + "\n" + " self._write_data_cmd()\n" + " self._write_dsp_ctrl()\n" + "\n" + " def _start(self):\n" + " self.dio(0)\n" + " sleep_us(TM1637_DELAY)\n" + " self.clk(0)\n" + " sleep_us(TM1637_DELAY)\n" + "\n" + " def _stop(self):\n" + " self.dio(0)\n" + " sleep_us(TM1637_DELAY)\n" + " self.clk(1)\n" + " sleep_us(TM1637_DELAY)\n" + " self.dio(1)\n" + "\n" + " def _write_data_cmd(self):\n" + " # automatic address increment, normal mode\n" + " self._start()\n" + " self._write_byte(TM1637_CMD1)\n" + " self._stop()\n" + "\n" + " def _write_dsp_ctrl(self):\n" + " # display on, set brightness\n" + " self._start()\n" + " self._write_byte(TM1637_CMD3 | TM1637_DSP_ON | self._brightness)\n" + " self._stop()\n" + "\n" + " def _write_byte(self, b):\n" + " for i in range(8):\n" + " self.dio((b >> i) & 1)\n" + " sleep_us(TM1637_DELAY)\n" + " self.clk(1)\n" + " sleep_us(TM1637_DELAY)\n" + " self.clk(0)\n" + " sleep_us(TM1637_DELAY)\n" + " self.clk(0)\n" + " sleep_us(TM1637_DELAY)\n" + " self.clk(1)\n" + " sleep_us(TM1637_DELAY)\n" + " self.clk(0)\n" + " sleep_us(TM1637_DELAY)\n" + "\n" + " def brightness(self, val=None):\n" + " \"\"\"Set the display brightness 0-7.\"\"\"\n" + " # brightness 0 = 1/16th pulse width\n" + " # brightness 7 = 14/16th pulse width\n" + " if val is None:\n" + " return self._brightness\n" + " if not 0 <= val <= 7:\n" + " raise ValueError(\"Brightness out of range\")\n" + "\n" + " self._brightness = val\n" + " self._write_data_cmd()\n" + " self._write_dsp_ctrl()\n" + "\n" + " def write(self, segments, pos=0):\n" + " \"\"\"Display up to 6 segments moving right from a given position.\n" + " The MSB in the 2nd segment controls the colon between the 2nd\n" + " and 3rd segments.\"\"\"\n" + " if not 0 <= pos <= 5:\n" + " raise ValueError(\"Position out of range\")\n" + " self._write_data_cmd()\n" + " self._start()\n" + "\n" + " self._write_byte(TM1637_CMD2 | pos)\n" + " for seg in segments:\n" + " self._write_byte(seg)\n" + " self._stop()\n" + " self._write_dsp_ctrl()\n" + "\n" + " def encode_digit(self, digit):\n" + " \"\"\"Convert a character 0-9, a-f to a segment.\"\"\"\n" + " return _SEGMENTS[digit & 0x0f]\n" + "\n" + " def encode_string(self, string):\n" + " \"\"\"Convert an up to 4 character length string containing 0-9, a-z,\n" + " space, dash, star to an array of segments, matching the length of the\n" + " source string.\"\"\"\n" + " segments = bytearray(len(string))\n" + " for i in range(len(string)):\n" + " segments[i] = self.encode_char(string[i])\n" + " return segments\n" + "\n" + " def encode_char(self, char):\n" + " \"\"\"Convert a character 0-9, a-z, space, dash or star to a segment.\"\"\"\n" + " o = ord(char)\n" + " if o == 32:\n" + " return _SEGMENTS[36] # space\n" + " if o == 42:\n" + " return _SEGMENTS[38] # star/degrees\n" + " if o == 45:\n" + " return _SEGMENTS[37] # dash\n" + " if o >= 65 and o <= 90:\n" + " return _SEGMENTS[o-55] # uppercase A-Z\n" + " if o >= 97 and o <= 122:\n" + " return _SEGMENTS[o-87] # lowercase a-z\n" + " if o >= 48 and o <= 57:\n" + " return _SEGMENTS[o-48] # 0-9\n" + " raise ValueError(\"Character out of range: {:d} '{:s}'\".format(o, chr(o)))\n" + "\n" + " def hex(self, val):\n" + " \"\"\"Display a hex value 0x0000 through 0xffff, right aligned.\"\"\"\n" + " string = '{:04x}'.format(val & 0xffff)\n" + " self.write(self.encode_string(string))\n" + "\n" + " def number(self, num):\n" + " \"\"\"Display a numeric value -999 through 9999, right aligned.\"\"\"\n" + " # limit to range -999 to 9999\n" + " num = max(-999, min(num, 9999))\n" + " string = '{0: >4d}'.format(num)\n" + " self.write(self.encode_string(string))\n" + "\n" + " def numbers(self, num1, num2, colon=True):\n" + " \"\"\"Display two numeric values -9 through 99, with leading zeros\n" + " and separated by a colon.\"\"\"\n" + " num1 = max(-9, min(num1, 99))\n" + " num2 = max(-9, min(num2, 99))\n" + " segments = self.encode_string('{0:0>2d}{1:0>2d}'.format(num1, num2))\n" + " if colon:\n" + " segments[1] |= 0x80 # colon on\n" + " self.write(segments)\n" + "\n" + " def temperature(self, num):\n" + " if num < -9:\n" + " self.show('lo') # low\n" + " elif num > 99:\n" + " self.show('hi') # high\n" + " else:\n" + " string = '{0: >2d}'.format(num)\n" + " self.write(self.encode_string(string))\n" + " self.write([_SEGMENTS[38], _SEGMENTS[12]], 2) # degrees C\n" + "\n" + " def show(self, string, colon=False):\n" + " segments = self.encode_string(string)\n" + " if len(segments) > 1 and colon:\n" + " segments[1] |= 128\n" + " self.write(segments[:4])\n" + "\n" + " def scroll(self, string, delay=250):\n" + " segments = string if isinstance(string, list) else self.encode_string(string)\n" + " data = [0] * 8\n" + " data[4:0] = list(segments)\n" + " for i in range(len(segments) + 5):\n" + " self.write(data[0+i:4+i])\n" + " sleep_ms(delay)\n" + "\n" + "\n" + "class TM1637Decimal(TM1637):\n" + " \"\"\"Library for quad 7-segment LED modules based on the TM1637 LED driver.\n" + "\n" + " This class is meant to be used with decimal display modules (modules\n" + " that have a decimal point after each 7-segment LED).\n" + " \"\"\"\n" + "\n" + " def encode_string(self, string):\n" + " \"\"\"Convert a string to LED segments.\n" + "\n" + " Convert an up to 4 character length string containing 0-9, a-z,\n" + " space, dash, star and '.' to an array of segments, matching the length of\n" + " the source string.\"\"\"\n" + " segments = bytearray(len(string.replace('.','')))\n" + " j = 0\n" + " for i in range(len(string)):\n" + " if string[i] == '.' and j > 0:\n" + " segments[j-1] |= TM1637_MSB\n" + " continue\n" + " segments[j] = self.encode_char(string[i])\n" + " j += 1\n" + " return segments\n" + "\n" + "\n" + "class HCSR04:\n" + " def __init__(self, trigger_pin, echo_pin, echo_timeout_us=500*2*30):\n" + "\n" + " self.echo_timeout_us = echo_timeout_us\n" + " self.trigger = Pin(trigger_pin, mode=Pin.OUT, pull=None)\n" + " self.trigger.value(0)\n" + " self.echo = Pin(echo_pin, mode=Pin.IN, pull=None)\n" + "\n" + " def _send_pulse_and_wait(self):\n" + " self.trigger.value(0) \n" + " sleep_us(5)\n" + " self.trigger.value(1)\n" + " sleep_us(10)\n" + " self.trigger.value(0)\n" + " try:\n" + " pulse_time = time_pulse_us(self.echo, 1, self.echo_timeout_us)\n" + " if pulse_time < 0:\n" + " pulse_time = int(500 * 29.1)\n" + " return pulse_time\n" + " except OSError as ex:\n" + " if ex.args[0] == 110:\n" + " raise OSError('Out of range')\n" + " raise ex\n" + "\n" + " def distance_mm(self):\n" + " pulse_time = self._send_pulse_and_wait()\n" + " mm = pulse_time * 100 // 582\n" + " return mm\n" + "\n" + " def distance_cm(self):\n" + " pulse_time = self._send_pulse_and_wait()\n" + " cms = (pulse_time / 2) / 29.1\n" + " return cms\n" + "\n" + "\n" + "\n" + "class accel():\n" + " error=[0,0,0]\n" + " def __init__(self, i2c, addr=0x68):\n" + " self.iic = i2c\n" + " self.addr = addr\n" + " self.iic.start()\n" + " sleep_ms(1)\n" + " self.iic.writeto(self.addr, bytearray([107, 0]))\n" + " sleep_ms(1)\n" + " self.iic.writeto_mem(self.addr,0x19,b'\\x07') #gyro 125hz\n" + " sleep_ms(1)\n" + " self.iic.writeto_mem(self.addr,0x1a,b'\\x04') #low filter 21hz\n" + " sleep_ms(1)\n" + " self.iic.writeto_mem(self.addr,0x1b,b'\\x08') #gryo 500/s 65.5lsb/g\n" + " sleep_ms(1)\n" + " self.iic.writeto_mem(self.addr,0x1c,b'\\x08') #acceler 4g ,8192lsb.g\n" + " sleep_ms(1)\n" + " self.iic.stop()\n" + "\n" + " def get_raw_values(self):\n" + " self.iic.start()\n" + " a = self.iic.readfrom_mem(self.addr, 0x3B, 14)\n" + " self.iic.stop()\n" + " return a\n" + "\n" + " def get_ints(self):\n" + " b = self.get_raw_values()\n" + " c = []\n" + " for i in b:\n" + " c.append(i)\n" + " return c\n" + "\n" + " def bytes_toint(self, firstbyte, secondbyte):\n" + " if not firstbyte & 0x80:\n" + " return firstbyte << 8 | secondbyte\n" + " return - (((firstbyte ^ 255) << 8) | (secondbyte ^ 255) + 1)\n" + "\n" + " def error_gy(self):\n" + " sleep(3)\n" + " global error\n" + " error=[0,0,0]\n" + " vals = {}\n" + " for i in range(0,10):\n" + "\t raw_ints = self.get_raw_values()\n" + "\t vals[\"GyX\"] = self.bytes_toint(raw_ints[8], raw_ints[9])\n" + "\t vals[\"GyY\"] = self.bytes_toint(raw_ints[10], raw_ints[11])\n" + "\t vals[\"GyZ\"] = self.bytes_toint(raw_ints[12], raw_ints[13])\n" + "\t error[0]= error[0]+vals[\"GyX\"]\n" + "\t error[1]= error[1]+vals[\"GyY\"]\n" + "\t error[2]= error[2]+vals[\"GyZ\"]\n" + "\t sleep_ms(8)\n" + " error[1]=error[1]/10.0\n" + " error[2]=error[2]/10.0\n" + " error[0]=error[0]/10.0\n" + "\t\t\n" + " def get_values(self):\n" + " global error\n" + " vals = {}\n" + " raw_ints = self.get_raw_values()\n" + " vals[\"AcX\"] = self.bytes_toint(raw_ints[0], raw_ints[1])\n" + " vals[\"AcY\"] = self.bytes_toint(raw_ints[2], raw_ints[3])\n" + " vals[\"AcZ\"] = self.bytes_toint(raw_ints[4], raw_ints[5])\n" + " vals[\"Tmp\"] = self.bytes_toint(raw_ints[6], raw_ints[7]) / 340.00 + 36.53\n" + " vals[\"GyX\"] = self.bytes_toint(raw_ints[8], raw_ints[9])-error[0]\n" + " vals[\"GyY\"] = self.bytes_toint(raw_ints[10], raw_ints[11])-error[1]\n" + " vals[\"GyZ\"] = self.bytes_toint(raw_ints[12], raw_ints[13])-error[2]\n" + " #vals[\"GyZ1\"] = self.bytes_toint(raw_ints[12], raw_ints[13])\n" + " return vals # returned in range of Int16\n" + " # -32768 to 32767\n" + "\n" + "Kp=0.8 #比例增益支配率收敛到加速度计/磁强计\n" + "Ki=0.001 #积分增益支配率的陀螺仪偏见的衔接\n" + "halfT=0.004 #采样周期的一半\n" + "q0=1\n" + "q1=0\n" + "q2=0\n" + "q3=0; #四元数的元素 ,代表估计方向\n" + "exInt=0\n" + "eyInt=0\n" + "ezInt=0 #按比例缩小积分误差\n" + "def IMUupdate(gx,gy,gz,ax,ay,az):\n" + " K=0.7\n" + " a=[0,0,0,0,0,0,0,0]\n" + " global Kp,Ki,halfT,q0,q1,q2,q3,exInt,eyInt,ezInt\n" + " if ax!=0 or ay!=0 or az!=0: \n" + " norm=math.sqrt(ax*ax+ay*ay+az*az);\n" + " ax=ax/norm; #单位化\n" + " ay=ay/norm;\n" + " az=az/norm;\n" + " #估计方向的重力\n" + " vx=2* (q1*q3-q0*q2 );\n" + " vy=2* (q0*q1+q2*q3 );\n" + " vz=q0*q0-q1*q1-q2*q2+q3*q3;\n" + " #错误的领域和方向传感器测量参考方向之间的交叉乘积的总和\n" + " ex= (ay*vz-az*vy );\n" + " ey= (az*vx-ax*vz );\n" + " ez= (ax*vy-ay*vx );\n" + " #积分误差比例积分增益\n" + " exInt=exInt+ex*Ki;\n" + " eyInt=eyInt+ey*Ki;\n" + " ezInt=ezInt+ez*Ki;\n" + " #调整后的陀螺仪测量\n" + " gx=gx+Kp*ex+exInt;\n" + " gy=gy+Kp*ey+eyInt;\n" + " gz=gz+Kp*ez+ezInt;\n" + " #整合四元数率和正常化\n" + " q0=q0+ (-q1*gx-q2*gy-q3*gz )*halfT;\n" + " q1=q1+ (q0*gx+q2*gz-q3*gy )*halfT;\n" + " q2=q2+ (q0*gy-q1*gz+q3*gx )*halfT;\n" + " q3=q3+ (q0*gz+q1*gy-q2*gx )*halfT;\n" + " #正常化四元\n" + " norm=math.sqrt(q0*q0+q1*q1+q2*q2+q3*q3 );\n" + " q0=q0/norm;\n" + " q1=q1/norm;\n" + " q2=q2/norm;\n" + " q3=q3/norm;\n" + " Pitch=math.asin (-2*q1*q3+2*q0*q2 )*57.3; #pitch ,转换为度数\n" + " if -2*q1*q1-2*q2*q2+1!=0:\n" + " Roll=math.atan ((2*q2*q3+2*q0*q1)/(-2*q1*q1-2*q2*q2+1) )*57.3; #rollv\n" + " a[0]=Pitch\n" + " a[1]=Roll\n" + " if ay*ay+az*az!=0:\n" + " a[2]=-math.atan(ax/math.sqrt(ay*ay+az*az))*57.2957795\n" + " if ax*ax+az*az!=0:\n" + " a[3]=math.atan(ay/math.sqrt(ax*ax+az*az))*57.2957795\n" + " a[4]=gx\n" + " a[5]=gy\n" + " a[6]=gz\n" + " a[0]=-K*Pitch-(1-K)*a[2]\n" + " a[1]=K*Roll+(1-K)*a[3]\n" + " return a\n" + "\n" + "\n" + "_NOOP = const(0)\n" + "_DIGIT0 = const(1)\n" + "_DECODEMODE = const(9)\n" + "_INTENSITY = const(10)\n" + "_SCANLIMIT = const(11)\n" + "_SHUTDOWN = const(12)\n" + "_DISPLAYTEST = const(15)\n" + "\n" + "class Matrix8x8:\n" + " def __init__(self, spi, num):\n" + " if spi == 1:\n" + " self.spi = SPI(1,1000000,sck = Pin(14),mosi = Pin(13),miso = Pin(19))\n" + " self.cs = Pin(12)\n" + " elif spi == 2:\n" + " self.spi = SPI(1,1000000,sck = Pin(14),mosi = Pin(13),miso = Pin(19))\n" + " self.cs = Pin(12)\n" + " self.cs.init(self.cs.OUT, True)\n" + " self.buffer = bytearray(8 * num)\n" + " self.num = num\n" + " fb = framebuf.FrameBuffer(self.buffer, 8 * num, 8, framebuf.MONO_HLSB)\n" + " self.framebuf = fb\n" + " self.fill = fb.fill # (col)\n" + " self.pixel = fb.pixel # (x, y[, c])\n" + " self.hline = fb.hline # (x, y, w, col)\n" + " self.vline = fb.vline # (x, y, h, col)\n" + " self.line = fb.line # (x1, y1, x2, y2, col)\n" + " self.rect = fb.rect # (x, y, w, h, col)\n" + " self.fill_rect = fb.fill_rect # (x, y, w, h, col)\n" + " self.text = fb.text # (string, x, y, col=1)\n" + " self.scroll = fb.scroll # (dx, dy)\n" + " self.blit = fb.blit # (fbuf, x, y[, key])\n" + " self.init()\n" + "\n" + " def _write(self, command, data):\n" + " self.cs(0)\n" + " for m in range(self.num):\n" + " self.spi.write(bytearray([command, data]))\n" + " self.cs(1)\n" + "\n" + " def init(self):\n" + " for command, data in (\n" + " (_SHUTDOWN, 0),\n" + " (_DISPLAYTEST, 0),\n" + " (_SCANLIMIT, 7),\n" + " (_DECODEMODE, 0),\n" + " (_SHUTDOWN, 1),\n" + " ):\n" + " self._write(command, data)\n" + "\n" + " def brightness(self, value):\n" + " if not 0 <= value <= 15:\n" + " raise ValueError(\"Brightness out of range\")\n" + " self._write(_INTENSITY, value)\n" + "\n" + " def show(self):\n" + " for y in range(8):\n" + " self.cs(0)\n" + " for m in range(self.num):\n" + " self.spi.write(bytearray([_DIGIT0 + y, self.buffer[(y * self.num) + m]]))\n" + " self.cs(1)\n" + " \n" + " def scrollShow(self, num):\n" + " msg = str(num)\n" + " length = len(msg)\n" + " for x in range(8,-8*length,-1):\n" + " self.text(msg,x,1,1)\n" + " self.show()\n" + " sleep_ms(80)\n" + " self.fill(0)\n" + "\n" + " def text_from_glyph(self, s, glyphs, x_offset=0, y_offset=0):\n" + " col = 0\n" + " for char in s:\n" + " glyph = glyphs.get(char)\n" + "\n" + " if glyph:\n" + " for y in range(8):\n" + " for x in range(8):\n" + " self.pixel(x+col+x_offset, y+y_offset, glyph[y][x])\n" + " else:\n" + " self.text(char, col+x_offset, y_offset)\n" + "\n" + " col += 8\n" + "\n" + "\n" + "\n" + "# --------------------------------------------------------------------\n" + "#该函数为RGB彩虹灯灯控制函数\n" + "def ledon(rgbColor,rgbId):\n" + " import neopixel,machine\n" + " np = neopixel.NeoPixel(machine.Pin(23), 28) #RGB此时与 接口E 相连\n" + " if rgbColor == 'red':\n" + " np[rgbId]=(255,0,0)\n" + " elif rgbColor == 'green':\n" + " np[rgbId]=(0,255,0)\n" + " elif rgbColor =='blue':\n" + " np[rgbId]=(0,0,255)\n" + " elif rgbColor =='cyan':\n" + " np[rgbId]=(0,255,255)\n" + " elif rgbColor =='purple':\n" + " np[rgbId]=(255,0,255)\n" + " elif rgbColor =='yellow':\n" + " np[rgbId]=(255,255,0)\n" + " elif rgbColor =='orange':\n" + " np[rgbId]=(255,30,0)\n" + " elif rgbColor =='pink':\n" + " np[rgbId]=(255,0,30)\n" + " elif rgbColor == 'white':\n" + " np[rgbId]=(150,150,150)\n" + " np.write()\n" + "\n" + "def ledonzb(rgbColor1,hang2,lie2):\n" + " import neopixel,machine\n" + " np = neopixel.NeoPixel(machine.Pin(23), 28) #RGB此时与 接口E 相连\n" + " if rgbColor1 =='red':\n" + " np[hang2*7+lie2]=(255,0,0)\n" + " elif rgbColor1 =='green':\n" + " np[hang2*7+lie2]=(0,255,0)\n" + " elif rgbColor1 =='blue':\n" + " np[hang2*7+lie2]=(0,0,255)\n" + " elif rgbColor1 =='cyan':\n" + " np[hang2*7+lie2]=(0,255,255)\n" + " elif rgbColor1 =='purple':\n" + " np[hang2*7+lie2]=(255,0,255)\n" + " elif rgbColor1 =='yellow':\n" + " np[hang2*7+lie2]=(255,255,0)\n" + " elif rgbColor1 =='orange':\n" + " np[hang2*7+lie2]=(255,30,0)\n" + " elif rgbColor1 =='pink':\n" + " np[hang2*7+lie2]=(255,0,30)\n" + " elif rgbColor1 == 'white':\n" + " np[hang2*7+lie2]=(150,150,150)\n" + " np.write()\n" + " \n" + "def ledoff(rgbId1):\n" + " import neopixel,machine\n" + " np = neopixel.NeoPixel(machine.Pin(23), 28) #RGB此时与 接口E 相连\n" + " np[rgbId1]=(0,0,0)\n" + " np.write()\n" + " \n" + "def ledoffzb(hang3,lie3):\n" + " import neopixel,machine\n" + " np = neopixel.NeoPixel(machine.Pin(23), 28) #RGB此时与 接口E 相连\n" + " np[hang3*7+lie3]=(0,0,0)\n" + " np.write()\n" + " \n" + "def p0servo(degreeVal):\n" + " p0 = PWM(Pin(32))\n" + " p0.freq(50)\n" + " p0.duty_u16(1638+int((8192-1638)/180*degreeVal))\n" + "\n" + "#森林公园自行车-教研部\n" + "# 2023.06.30\n" + "# end\n")); } public static String getSha1(String str) { char hexDigits[] = { '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'a', 'b', 'c', 'd', 'e', 'f' }; try { MessageDigest mdTemp = MessageDigest.getInstance("SHA1"); mdTemp.update(str.getBytes("UTF-8")); byte[] md = mdTemp.digest(); int j = md.length; char buf[] = new char[j * 2]; int k = 0; for (int i = 0; i < j; i++) { byte byte0 = md[i]; buf[k++] = hexDigits[byte0 >>> 4 & 0xf]; buf[k++] = hexDigits[byte0 & 0xf]; } return new String(buf); } catch (Exception e) { return null; } } }