lets go!

Crickits/robby_gyrobot/code.py

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+from digitalio import DigitalInOut, Direction, Pull
+from busio import I2C
+from adafruit_seesaw.seesaw import Seesaw
+from adafruit_seesaw.pwmout import PWMOut
+import touchio
+import audioio
+import neopixel
+import board
+import time
+import gc
+
+pixels = neopixel.NeoPixel(board.NEOPIXEL, 10, brightness=1)
+pixels.fill((0,0,0))
+
+# Create seesaw object
+i2c = I2C(board.SCL, board.SDA)
+seesaw = Seesaw(i2c)
+
+# switch
+switch = DigitalInOut(board.SLIDE_SWITCH)
+switch.direction = Direction.INPUT
+switch.pull = Pull.UP
+
+# We need some extra captouches
+touch2 = touchio.TouchIn(board.A2)
+touch3 = touchio.TouchIn(board.A3)
+
+# LED for debugging
+led = DigitalInOut(board.D13)
+led.direction = Direction.OUTPUT
+
+# Create drive (PWM) object
+INFRARED_LED_SS = 13
+my_drive = PWMOut(seesaw, INFRARED_LED_SS)    # Drive 1 is on s.s. pin 13
+my_drive.frequency = 1000        # Our default frequency is 1KHz
+
+CAPTOUCH_THRESH = 850
+
+# Commands, each 8 bit command is preceded by the 5 bit Init sequence
+Init = [0, 0, 0, 1, 0]            # This must precede any command
+Calibrate = [1, 0, 1, 0, 1, 0, 1, 1]  # the initial calibration
+Up = [1, 0, 1, 1, 1, 0, 1, 1]     # Move arms/body down
+Down = [1, 1, 1, 1, 1, 0, 1, 1]   # Move arms/body up
+Left = [1, 0, 1, 1, 1, 0, 1, 0]   # Twist body left
+Right = [1, 1, 1, 0, 1, 0, 1, 0]  # Twist body right
+Close = [1, 0, 1, 1, 1, 1, 1, 0]  # Close arms
+Open = [1, 1, 1, 0, 1, 1, 1, 0]   # Open arms
+Test = [1, 1, 1, 0, 1, 0, 1, 1]   # Turns R.O.B. head LED on
+
+print("R.O.B. Start")
+
+
+def IR_Command(cmd):
+    print("Sending ", cmd)
+    gc.collect()                     # collect memory now, timing specific!
+    # Output initialization and then command cmd
+    for val in Init+cmd:             # For each value in initial+command
+        if val:                      # if it's a one, flash the IR LED
+            seesaw.analog_write(INFRARED_LED_SS, 65535)  # on
+            seesaw.analog_write(INFRARED_LED_SS, 0)      # off 2ms later
+	    time.sleep(0.013)       # 17 ms total
+        else:
+            time.sleep(0.015)       # 17 ms total   
+
+a = audioio.AudioOut(board.A0)
+startfile = "startup.wav"
+loopfile = "loop.wav"
+with open(startfile, "rb") as f:
+    wav = audioio.WaveFile(f)
+    a.play(wav)
+    for _ in range(3):
+	IR_Command(Calibrate)
+	time.sleep(0.5)
+    while a.playing:
+	IR_Command(Open)
+	time.sleep(1)
+	IR_Command(Close)
+	time.sleep(1)
+f = open(loopfile, "rb")
+wav = audioio.WaveFile(f)
+a.play(wav, loop=True)
+
+while True:                          # Main Loop poll switches, do commands
+    led.value = switch.value         # easily tell if we're running
+    if not switch.value:
+	continue
+
+    #touch_vals = (touch2.raw_value, touch3.raw_value, seesaw.touch_read(0), seesaw.touch_read(1), seesaw.touch_read(2), seesaw.touch_read(3))
+    #print(touch_vals)
+    
+    if touch2.raw_value > 3000:
+	print("Open jaws")
+	pixels.fill((50,50,0))
+        IR_Command(Open)             # Button A opens arms
+    
+    elif touch3.raw_value > 3000:
+	print("Close jaws")
+	pixels.fill((0,50,0))
+        IR_Command(Close)            # Button B closes arms
+
+    elif seesaw.touch_read(0) > CAPTOUCH_THRESH:
+	print("Up")
+	pixels.fill((50,0,50))
+	IR_Command(Up)
+
+    elif seesaw.touch_read(1) > CAPTOUCH_THRESH:
+	print("Down")
+	pixels.fill((50,50,50))
+	IR_Command(Down)
+
+    elif seesaw.touch_read(2) > CAPTOUCH_THRESH:
+	print("Left")
+	pixels.fill((50,0,0))
+	IR_Command(Left)
+
+    elif seesaw.touch_read(3) > CAPTOUCH_THRESH:
+	print("Right")
+	pixels.fill((0,0,50))
+	IR_Command(Right)
+	
+    time.sleep(0.1)
+    pixels.fill((0,0,0))