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ladyada 2020-03-01 15:25:25 -05:00
parent 1cfce7b273
commit 2b0f7bce04
1 changed files with 17 additions and 21 deletions
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38
CLUE_plenbit_demo/code.py
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@ -1,42 +1,35 @@
# Simple demo for controlling the plen:bit robot
# NOTE: MUST CUT MIDDLE TRACE ON PCA9685 ADDRESS JUMPER!
import time
import busio
import board
from digitalio import DigitalInOut, Direction
from adafruit_pca9685 import PCA9685
from adafruit_motor import servo
led = DigitalInOut(board.P16)
led.direction = Direction.OUTPUT
i2c = busio.I2C(board.SCL, board.SDA)
pca = PCA9685(i2c, address=0x68)
pca.frequency = 50
led = DigitalInOut(board.P16)
led.direction = Direction.OUTPUT
led.value = True
while True:
pass
servoSetInit = (1000, 630, 500, 600, 240, 600, 1000, 720)
servoAngle = [1000, 630, 500, 600, 240, 600, 1000, 720]
motionSpeed = 15
servos = []
for s in range(8):
servos.append(servo.Servo(pca.channels[s], min_pulse=800, max_pulse=2200))
for c in range(8):
servos.append(servo.Servo(pca.channels[c], min_pulse=800, max_pulse=2200))
def servoInitialSet():
print("Initialize servos")
for n in range(8):
servos[n].angle = servoSetInit[n] / 10
for i in range(8):
servos[i].angle = servoSetInit[i] / 10
def servoFree(serv = None):
if serv:
print("Release servo #", serv)
servos[serv].angle = None
def servoFree(n = None):
if n:
print("Release servo #", n)
servos[n].angle = None
else:
print("Release all servos")
for ser in servos:
ser.angle = None
for s in servos:
s.angle = None
def servoWrite(num, degrees):
degrees = min(max(degrees, 0), 180)
@ -61,7 +54,8 @@ def setAngle(angle, msec):
print(servoAngle)
servoInitialSet()
time.sleep(1)
led.value = False
setAngle([0, 0, -200, 0, 0, 0, 0, 0], 500)
setAngle([0, 0, -1800, 0, 0, 0, 1800, 0], 500)
setAngle([900, 0, -1800, 0, -900, 0, 1800, 0], 500)
@ -69,4 +63,6 @@ setAngle([900, 0, -200, 0, -900, 0, 0, 0], 500)
setAngle([900, 0, -1800, 0, -900, 0, 1800, 0], 500)
setAngle([900, 0, -200, 0, -900, 0, 0, 0], 500)
setAngle([0, 0, -200, 0, 0, 0, 0, 0], 500)
led.value = True
servoFree()