M5Stick-C with Stepper and IMU

This project is simply an experiment to move the stepper on the 6060 push using rs485. It uses the accelerometer to check the tilt direction and moves the stepper accordingly.

from m5stack import *
from m5ui import *
from uiflow import *
import imu
setScreenColor(0x111111)
imu0 = imu.IMU()
label1 = M5TextBox(74, 114, "Text", lcd.FONT_Default,0xFFFFFF, rotate=90)
rectangle0 = M5Rect(0, 0, 50, 10, 0xFFFFFF, 0xFFFFFF)
label0 = M5TextBox(33, 15, "Text", lcd.FONT_DejaVu24,0xFFFFFF, rotate=90)
name = None
move = None
message = None
uart_val = None
uart_int = None
uart = None
acc_dir = None
pos = None
prev_acc_dir = None
out = None
id_set = None
checked_pos = None
def get_serial_pos(name):
global move, message, uart_val, uart_int, uart, acc_dir, pos, prev_acc_dir, out, id_set, checked_pos
message = ('ID' + ((name + 'P')))
uart.write(str(message)+"\r\n")
uart_val = str((uart.readline()))
wait_ms(20)
uart_val = uart_val.replace("b'", '')
uart_val = uart_val.replace("\\r\\n'", '')
uart_val = uart_val.replace('ok', '')
uart_val = uart_val.strip()
label1.setText(str(uart_val))
return uart_val
def draw_screen():
global name, move, message, uart_val, uart_int, uart, acc_dir, pos, prev_acc_dir, out, id_set, checked_pos
label1.hide()
label0.hide()
label0.setColor(0x339999)
label0.setRotate(90)
label0.setFont(lcd.FONT_DejaVu18)
label1.setRotate(90)
rectangle0.setBgColor(0x339999)
rectangle0.setSize(50, 10)
rectangle0.setPosition(0, pos)
def check_id():
global name, move, message, uart_val, uart_int, uart, acc_dir, pos, prev_acc_dir, out, id_set, checked_pos
uart.write("ID"+"\r\n")
wait_ms(150)
def get_accel_dir():
global name, move, message, uart_val, uart_int, uart, acc_dir, pos, prev_acc_dir, out, id_set, checked_pos
acc_dir = imu0.acceleration[1]
if acc_dir > 0.32:
pos = pos + 1
wait_ms(120)
if pos >= 50:
pos = 50
if acc_dir < 0.12:
pos = pos - 1
wait_ms(120)
if pos <= 0:
pos = 0
label0.setPosition(y=(15 + (pos * 3)))
label0.setText(str(pos))
rectangle0.setSize(height=(10 + (pos * 3)))
return pos
def move_stepper(name, move):
global message, uart_val, uart_int, uart, acc_dir, pos, prev_acc_dir, out, id_set, checked_pos
move = str(move)
message = ('ID' + ((name + ':X')))
out = (message + move)
uart.write(str(out)+"\r\n")
wait_ms(20)
def set_id(name):
global move, message, uart_val, uart_int, uart, acc_dir, pos, prev_acc_dir, out, id_set, checked_pos
message = ('ID=' + name)
uart.write(str(id_set)+"\r\n")
wait_ms(150)
def move_home(name):
global move, message, uart_val, uart_int, uart, acc_dir, pos, prev_acc_dir, out, id_set, checked_pos
message = ('ID' + ((name + 'Z')))
uart.write(str(str(message))+"\r\n")
label1.setText('home')
wait(3)
uart_int = 0
pos = 0
prev_acc_dir = 0
uart = machine.UART(1, tx=0, rx=26)
uart.init(9600, bits=8, parity=None, stop=1)
name = '123'
draw_screen()
check_id()
set_id(name)
move_home(name)
checked_pos = get_serial_pos(name)
while True:
acc_dir = get_accel_dir()
checked_pos = get_serial_pos('123')
if acc_dir != prev_acc_dir:
move_stepper(name, acc_dir)
prev_acc_dir = acc_dir
wait_ms(2)