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Content import bhi160 import utime import display import vibra import buttons import math fov = 45 # field of vision in degrees freq = 0.2 # how often to measure, in seconds center = (80, 40) radius = 30 orientation = bhi160.BHI160Orientation() disp = display.open() def draw_compass(relative_north, color): disp.clear() for ii in range(30): disp.pixel( int(center[0] + radius * math.cos(math.radians(12 * ii))), int(center[1] + radius * math.sin(math.radians(12 * ii))), col=(100, 100, 100), ) angle = math.radians(relative_north) - math.pi / 2 disp.circ( int(center[0] + radius * math.cos(angle)), int(center[1] + radius * math.sin(angle)), 5, col=color, ) disp.line( int(center[0]), int(center[1] - 0.8 * radius), int(center[0]), int(center[1] - 1.2 * radius), col=(100, 100, 100), size=1, ) disp.update() while True: samples = orientation.read() if len(samples) == 0: utime.sleep(freq) continue sample = samples[0] # I *think* status == 3 is good. degrees = sample.x color = [255, 0, 0] if sample.status == 1: color = [255, 128, 0] elif sample.status == 2: color = [255, 255, 0] elif sample.status == 3: color = [0, 200, 0] draw_compass(-degrees, color) if sample.status == 3: pointing_north = degrees > 360 - fov / 2 or degrees < fov / 2 vibra.set(pointing_north) utime.sleep(freq / 2) vibra.set(False) utime.sleep(freq / 2) else: utime.sleep(freq) # Check for button presses. v = buttons.read(buttons.BOTTOM_LEFT | buttons.BOTTOM_RIGHT | buttons.TOP_RIGHT) button_pressed = v != 0 if button_pressed and v & buttons.BOTTOM_LEFT != 0: freq *= 1 / 1.2 elif button_pressed and v & buttons.BOTTOM_RIGHT != 0: freq *= 1.2 elif button_pressed and v & buttons.TOP_RIGHT != 0: pass