deploy: 11614d3

.buildinfo

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+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: 2a63537479357844bf1192f560225979
+tags: 645f666f9bcd5a90fca523b33c5a78b7

_downloads/e6ffb4613247059f19b76a508c48412c/nanonav.py

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+
+from ble_advertising import advertising_payload
+import bluetooth
+from machine import Pin, PWM, ADC, freq
+import machine
+from micropython import const
+import rp2
+
+import time
+
+# Define BLE constants (these are not packaged in bluetooth for space efficiency)
+_IO_CAPABILITY_DISPLAY_ONLY = const(0)
+_FLAG_READ = const(0x0002)
+_FLAG_WRITE = const(0x0008)
+_IRQ_CENTRAL_CONNECT = const(1)
+_IRQ_CENTRAL_DISCONNECT = const(2)
+_IRQ_GATTS_WRITE = const(3)
+
+class BLE:
+    """
+    A helpful wraper around the BLE service functions needed for the Wumpus World project
+    """
+    def __init__(self, ble=bluetooth.BLE(), name="NANO RP2040"):
+        # Setup bluetooth low energy communication service
+        _SERVICE_UUID = bluetooth.UUID(0x1523) # unique service id for the communication
+        _NanoBot_CHAR_UUID = (bluetooth.UUID(0x1525), _FLAG_WRITE | _FLAG_READ) # characteristic
+        _NanoBot_SERVICE = (_SERVICE_UUID, (_NanoBot_CHAR_UUID,),) # service to provide the characteristic
+
+        self._ble = ble
+        self._ble.active(True)
+        self._ble.config(
+            bond=True,
+            mitm=True,
+            le_secure=True,
+            io=_IO_CAPABILITY_DISPLAY_ONLY
+        )
+        self._ble.irq(self._irq)
+        ((self._handle,),) = self._ble.gatts_register_services((_NanoBot_SERVICE,))
+        self._connections = set()
+        self._payload = advertising_payload(name=name, services=[_SERVICE_UUID])
+        self._advertise()
+        self.value = b'a'
+
+    def _advertise(self, interval_us=500000):
+        self._ble.gap_advertise(interval_us, adv_data=self._payload)
+
+    def _irq(self, event, data):
+        # handle bluetooth event
+        if event == _IRQ_CENTRAL_CONNECT:
+            # handle succesfull connection
+            conn_handle, addr_type, addr = data
+            self._connections.add(conn_handle)
+
+        elif event == _IRQ_CENTRAL_DISCONNECT:
+            # handle disconnect
+            conn_handle, _, _ = data
+            self._connections.remove(conn_handle)
+            self._advertise()
+
+        elif event == _IRQ_GATTS_WRITE:
+            conn_handle, value_handle = data
+            if conn_handle in self._connections:
+                # Value has been written to the characteristic
+                self.value = self._ble.gatts_read(value_handle)
+
+
+    def send(self, value):
+        """
+        Send value to the bluetooth characteristic.
+
+        :param value: The value to send.
+        :type value: bytes, int, str
+        :raise ValueError: If the value is not bytes, int, or str.
+
+        """
+        if not isinstance(value, bytes):
+            if isinstance(value, int):
+                value = value.to_bytes(1, "big")
+            elif isinstance(value, str):
+                value = value.encode('utf-8')
+            else:
+                raise ValueError("send value should be type bytes, int, or string")
+        self.value = value
+        self._ble.gatts_write(self._handle, value)
+
+    def read(self, as_type="bytes"):
+        """
+        Return the current value of the bluetooth characteristic, or None if an error occurred.
+
+        :param as_type: The type to return the value as. Must be one of 'bytes', 'str', or 'int'.
+        :type as_type: str
+        :return: The value of the characteristic.
+        :rtype: bytes, str, int, None
+        :raise ValueError: If as_type is not 'bytes', 'str', or 'int'.
+        """
+        value = self.value  # try using the last value written to characteristic
+        try:
+            if as_type == "bytes":
+                return value
+            elif as_type == "str":
+                return value.decode("utf-8")
+            elif as_type == "int":
+                print(f'read {value}')
+                return int.from_bytes(value, "big")
+        except Exception as e:
+            return None
+
+        raise ValueError("as_type must be one of 'bytes', 'str', or 'int'")

_sources/bluetooth.rst.txt

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+Bluetooth
+=========
+Using Bluetooth Low Energy (BLE) to communicate with the NanoNav.
+
+Quick Example
+-------------
+
+.. code-block:: python
+
+    from nanonav import BLE
+
+    # Create a Bluetooth object
+    ble = BLE(name="NanoNav")  
+
+    ble.send(43)
+    response = ble.read()
+
+Usage
+-----
+.. autoclass:: nanonav.BLE     
+    :members: 
+    .. automethod:: __init__
+
+
+Connecting from Mobile
+----------------------
+
+Various mobile apps are available for communicating with Bluetooth Low Energy. We recommend LightBlue which is available for both iOS and Android.
+TODO: Add screenshots and instructions for connecting to the NanoNav using LightBlue.
+

_sources/index.rst.txt

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+.. NanoNav documentation master file, created by
+   sphinx-quickstart on Mon Apr 15 12:52:38 2024.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Welcome to NanoNav's documentation.
+===================================
+
+Check out the :doc:`usage` section to get started.
+
+Contents
+--------
+
+.. toctree::
+
+   usage
+   bluetooth 
+   movement
+

_sources/movement.rst.txt

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+Movement
+=========
+Working with NanoNav's motors.
+
+Quick Example
+-------------
+
+.. code-block:: python
+
+    from nanonav import ...
+
+    # TODO

_sources/usage.rst.txt

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+Quick Start
+===========
+
+Installation
+------------
+
+To use the NanoNav supplementary code, either download :download:`nanonav.py </../../nanonav.py>` to your project directory
+
+Or copy the code below into a file called nanonav.py
+
+.. raw:: html
+
+   <div style="max-height: 50vh; overflow-y: scroll;">
+
+.. literalinclude:: /../../nanonav.py
+    :language: python
+    :linenos:
+
+.. raw:: html
+
+   </div>
+