I have copied the blocks as Micropython code:
I put the Tof to the grove port of the stickC.
for a little time it has worked.
Now it reads some values and then it produces an I2C (Error 19)
from m5stack import *
from m5ui import *
from uiflow import *
lcd.setRotation(0)
import time
from m5mqtt import M5mqtt
import unit
import hat
setScreenColor(0x111111)
tof0 = unit.get(unit.TOF, unit.PORTA)
hat_roverc0 = hat.get(hat.ROVERC)
m5mqtt = M5mqtt('MyBot', '192.168.178.39', 1883, '', '', 300)
label0 = M5TextBox(10, 10, "Hello", lcd.FONT_Default,0xFFFFFF, rotate=1)
label4 = M5TextBox(50, 24, "Text", lcd.FONT_Default,0xFFFFFF, rotate=0)
label1 = M5TextBox(10, 24, "Text", lcd.FONT_Default,0xFFFFFF, rotate=0)
label5 = M5TextBox(50, 41, "Text", lcd.FONT_Default,0xFFFFFF, rotate=1)
label6 = M5TextBox(50, 56, "Text", lcd.FONT_Default,0xFFFFFF, rotate=0)
label2 = M5TextBox(10, 41, "Text", lcd.FONT_Default,0xFFFFFF, rotate=0)
label3 = M5TextBox(10, 56, "Text", lcd.FONT_Default,0xFFFFFF, rotate=0)
import math
from numbers import Number
myStr = None
steuerung = None
geschwindigkeit = None
richtung = None
drehung = None
dummy = None
pwrTen = None
zahl = None
auto = None
mySpeed = None
myTime = None
i = None
backSpeed = None
start = None
myChar = None
dist = None
def toInt(myStr):
global steuerung, geschwindigkeit, richtung, drehung, dummy, pwrTen, zahl, auto, mySpeed, myTime, i, backSpeed, start, myChar, dist
pwrTen = 0
zahl = 0
i = 0
while i < len(myStr):
myChar = myStr[int(i - 1)]
if myChar == '0':
zahl = zahl * math.pow(10,pwrTen)
else:
if myChar == '1':
zahl = zahl + 1 * math.pow(10,pwrTen)
else:
if myChar == '2':
zahl = zahl + 2 * math.pow(10,pwrTen)
else:
if myChar == '3':
zahl = zahl + 3 * math.pow(10,pwrTen)
else:
if myChar == '4':
zahl = zahl + 4 * math.pow(10,pwrTen)
else:
if myChar == '5':
zahl = zahl + 5 * math.pow(10,pwrTen)
else:
if myChar == '6':
zahl = zahl + 6 * math.pow(10,pwrTen)
else:
if myChar == '7':
zahl = zahl + 7 * math.pow(10,pwrTen)
else:
if myChar == '8':
zahl = zahl + 8 * math.pow(10,pwrTen)
else:
if myChar == '9':
zahl = zahl + 9 * math.pow(10,pwrTen)
else:
pass
i = (i if isinstance(i, Number) else 0) + 1
pwrTen = (pwrTen if isinstance(pwrTen, Number) else 0) + 1
return zahl
def fun_OmniBot_steuer_(topic_data):
global steuerung, geschwindigkeit, richtung, drehung, dummy, pwrTen, zahl, auto, mySpeed, myTime, i, backSpeed, start, myChar, myStr, dist
steuerung = topic_data
label1.setText(str(steuerung))
pass
m5mqtt.subscribe(str('OmniBot/steuer'), fun_OmniBot_steuer_)
def fun_OmniBot_geschwindigkeit_(topic_data):
global steuerung, geschwindigkeit, richtung, drehung, dummy, pwrTen, zahl, auto, mySpeed, myTime, i, backSpeed, start, myChar, myStr, dist
geschwindigkeit = topic_data
label2.setText(str(geschwindigkeit))
mySpeed = toInt(geschwindigkeit)
backSpeed = -1 * mySpeed
pass
m5mqtt.subscribe(str('OmniBot/geschwindigkeit'), fun_OmniBot_geschwindigkeit_)
def fun_OmniBot_richtung_(topic_data):
global steuerung, geschwindigkeit, richtung, drehung, dummy, pwrTen, zahl, auto, mySpeed, myTime, i, backSpeed, start, myChar, myStr, dist
richtung = topic_data
label3.setText(str(richtung))
pass
m5mqtt.subscribe(str('OmniBot/richtung'), fun_OmniBot_richtung_)
def fun_OmniBot_rotation_(topic_data):
global steuerung, geschwindigkeit, richtung, drehung, dummy, pwrTen, zahl, auto, mySpeed, myTime, i, backSpeed, start, myChar, myStr, dist
drehung = topic_data
label4.setText(str(drehung))
pass
m5mqtt.subscribe(str('OmniBot/rotation'), fun_OmniBot_rotation_)
def fun_OmniBot_auto_(topic_data):
global steuerung, geschwindigkeit, richtung, drehung, dummy, pwrTen, zahl, auto, mySpeed, myTime, i, backSpeed, start, myChar, myStr, dist
dummy = topic_data
label5.setText(str(dummy))
pass
m5mqtt.subscribe(str('OmniBot/auto'), fun_OmniBot_auto_)
auto = False
myTime = 0
mySpeed = 0
start = (time.ticks_ms()) - myTime
label0.setText('OmnibotRC V2-0-2')
label4.setText('Hello M5')
while True:
dist = tof0.distance
label6.setText(str(dist))
wait_ms(50)
if myTime == 0 or start > 300000:
myTime = time.ticks_ms()
m5mqtt.start()
else:
pass
if dist > 50:
M5Led.off()
if richtung == 'stop' or steuerung == 'stop' or drehung == 'stop':
hat_roverc0.SetAllPulse(0, 0, 0, 0)
else:
if richtung == 'forward':
hat_roverc0.SetAllPulse(mySpeed, mySpeed, mySpeed, mySpeed)
else:
pass
if richtung == 'back':
hat_roverc0.SetAllPulse(backSpeed, backSpeed, backSpeed, backSpeed)
else:
pass
if steuerung == 'left':
hat_roverc0.SetAllPulse(mySpeed, backSpeed, backSpeed, mySpeed)
else:
pass
if steuerung == 'right':
hat_roverc0.SetAllPulse(backSpeed, mySpeed, mySpeed, backSpeed)
else:
pass
if drehung == 'RotLeft':
hat_roverc0.SetAllPulse(backSpeed, mySpeed, backSpeed, mySpeed)
else:
pass
if drehung == 'RotRight':
hat_roverc0.SetAllPulse(mySpeed, backSpeed, mySpeed, backSpeed)
else:
pass
else:
M5Led.on()
wait_ms(2)
