Merge pull request #924 from jedgarpark/turtle-rover

first commit Turtle BLE rover

Turtle_BLE_CPB_Crickit_Rover/turtle_ble_cpb_crickit_rover.py

@@ -0,0 +1,118 @@
+# Circuit Playground Bluefruit Rover
+# Use with the Adafruit BlueFruit LE Connect app
+# Works with CircuitPython 4.0.0-beta.1 and later
+# running on an nRF52840 CPB board and Crickit
+
+import time
+import board
+import digitalio
+import neopixel
+from adafruit_crickit import crickit
+from adafruit_ble.uart_server import UARTServer
+
+from adafruit_bluefruit_connect.packet import Packet
+# Only the packet classes that are imported will be known to Packet.
+from adafruit_bluefruit_connect.button_packet import ButtonPacket
+from adafruit_bluefruit_connect.color_packet import ColorPacket
+
+# Prep the status LED on the CPB
+red_led = digitalio.DigitalInOut(board.D13)
+red_led.direction = digitalio.Direction.OUTPUT
+
+uart_server = UARTServer()
+
+# motor setup
+motor_1 = crickit.dc_motor_1
+motor_2 = crickit.dc_motor_2
+
+FWD = 0.25
+REV = -0.25
+
+neopixels = neopixel.NeoPixel(board.NEOPIXEL, 10, brightness=0.1)
+RED = (200, 0, 0)
+GREEN = (0, 200, 0)
+BLUE = (0, 0, 200)
+PURPLE = (120, 0, 160)
+YELLOW = (100, 100, 0)
+AQUA = (0, 100, 100)
+BLACK = (0, 0, 0)
+color = PURPLE  # current NeoPixel color
+neopixels.fill(color)
+
+print("BLE Turtle Rover")
+print("Use Adafruit Bluefruit app to connect")
+while True:
+    # blue_led.value = False
+    neopixels[0] = BLACK
+    neopixels.show()
+    uart_server.start_advertising()
+    while not uart_server.connected:
+        # Wait for a connection.
+        pass
+    # set a pixel blue when connected
+    neopixels[0] = BLUE
+    neopixels.show()
+    while uart_server.connected:
+        if uart_server.in_waiting:
+            # Packet is arriving.
+            red_led.value = False  # turn off red LED
+            packet = Packet.from_stream(uart_server)
+            if isinstance(packet, ColorPacket):
+                # Change the color.
+                color = packet.color
+                neopixels.fill(color)
+
+            # do this when buttons are pressed
+            if isinstance(packet, ButtonPacket) and packet.pressed:
+                red_led.value = True  # blink to show packet has been received
+                if packet.button == ButtonPacket.UP:
+                    neopixels.fill(color)
+                    motor_1.throttle = FWD
+                    motor_2.throttle = FWD
+                elif packet.button == ButtonPacket.DOWN:
+                    neopixels.fill(color)
+                    motor_1.throttle = REV
+                    motor_2.throttle = REV
+                elif packet.button == ButtonPacket.RIGHT:
+                    color = YELLOW
+                    neopixels.fill(color)
+                    motor_2.throttle = 0
+                    motor_1.throttle = FWD
+                elif packet.button == ButtonPacket.LEFT:
+                    color = YELLOW
+                    neopixels.fill(color)
+                    motor_2.throttle = FWD
+                    motor_1.throttle = 0
+                elif packet.button == ButtonPacket.BUTTON_1:
+                    neopixels.fill(RED)
+                    motor_1.throttle = 0.0
+                    motor_2.throttle = 0.0
+                    time.sleep(0.5)
+                    neopixels.fill(color)
+                elif packet.button == ButtonPacket.BUTTON_2:
+                    color = GREEN
+                    neopixels.fill(color)
+                elif packet.button == ButtonPacket.BUTTON_3:
+                    color = BLUE
+                    neopixels.fill(color)
+                elif packet.button == ButtonPacket.BUTTON_4:
+                    color = PURPLE
+                    neopixels.fill(color)
+            # do this when some buttons are released
+            elif isinstance(packet, ButtonPacket) and not packet.pressed:
+                if packet.button == ButtonPacket.UP:
+                    neopixels.fill(RED)
+                    motor_1.throttle = 0
+                    motor_2.throttle = 0
+                if packet.button == ButtonPacket.DOWN:
+                    neopixels.fill(RED)
+                    motor_1.throttle = 0
+                    motor_2.throttle = 0
+                if packet.button == ButtonPacket.RIGHT:
+                    neopixels.fill(RED)
+                    motor_1.throttle = 0
+                    motor_2.throttle = 0
+                if packet.button == ButtonPacket.LEFT:
+                    neopixels.fill(RED)
+                    motor_1.throttle = 0
+                    motor_2.throttle = 0