Merge remote-tracking branch 'adafruit/master'

M4_Eyes/M4_Eyes.ino

@@ -59,6 +59,7 @@ int      iPupilFactor            = 42;
 uint32_t boopSum                 = 0;
 bool     booped                  = false;
 int      fixate                  = 7;
+uint8_t  lightSensorFailCount    = 0;
 
 // For autonomous iris scaling
 #define  IRIS_LEVELS 7
@@ -191,19 +192,21 @@ void setup() {
     eye[e].iris.startAngle   = (e & 1) ? 512 : 0; // Rotate alternate eyes 180 degrees
     eye[e].iris.angle        = eye[e].iris.startAngle;
     eye[e].iris.mirror       = 0;
-    eye[e].iris.spin         = 0;
+    eye[e].iris.spin         = 0.0;
+    eye[e].iris.iSpin        = 0;
     eye[e].sclera.color      = 0xFFFF;
     eye[e].sclera.data       = NULL;
     eye[e].sclera.filename   = NULL;
     eye[e].sclera.startAngle = (e & 1) ? 512 : 0; // Rotate alternate eyes 180 degrees
     eye[e].sclera.angle      = eye[e].sclera.startAngle;
     eye[e].sclera.mirror     = 0;
-    eye[e].sclera.spin       = 0;
+    eye[e].sclera.spin       = 0.0;
+    eye[e].sclera.iSpin      = 0;
 
     // Uncanny eyes carryover stuff for now, all messy:
     eye[e].blink.state = NOBLINK;
-    eye[e].eyeX        = 512;
+//    eye[e].eyeX        = 512;
-    eye[e].eyeY        = 512;
+//    eye[e].eyeY        = 512;
     eye[e].blinkFactor = 0.0;
   }
 
@@ -328,6 +331,12 @@ void setup() {
   Serial.printf("Free RAM: %d\n", availableRAM());
 
   randomSeed(SysTick->VAL + analogRead(A2));
+  eyeOldX = eyeNewX = eyeOldY = eyeNewY = mapRadius; // Start in center
+  for(e=0; e<NUM_EYES; e++) { // For each eye...
+    eye[e].eyeX = eyeOldX;
+    eye[e].eyeY = eyeOldY;
+  }
+  lastLightReadTime = micros() + 2000000; // Delay initial light reading
 }
 
 // LOOP FUNCTION - CALLED REPEATEDLY UNTIL POWER-OFF -----------------------
@@ -429,12 +438,21 @@ void loop() {
           // both eyes. This comment has nothing to do with the code.
           uint16_t rawReading = (lightSensorPin >= 100) ?
             seesaw.analogRead(lightSensorPin - 100) : analogRead(lightSensorPin);
-          if(rawReading < lightSensorMin)      rawReading = lightSensorMin; // Clamp light sensor range
+          if(rawReading <= 1023) {
-          else if(rawReading > lightSensorMax) rawReading = lightSensorMax; // to within usable range
+            if(rawReading < lightSensorMin)      rawReading = lightSensorMin; // Clamp light sensor range
-          float v = (float)(rawReading - lightSensorMin) / (float)(lightSensorMax - lightSensorMin); // 0.0 to 1.0
+            else if(rawReading > lightSensorMax) rawReading = lightSensorMax; // to within usable range
-          v = pow(v, lightSensorCurve);
+            float v = (float)(rawReading - lightSensorMin) / (float)(lightSensorMax - lightSensorMin); // 0.0 to 1.0
-          lastLightValue    = irisMin + v * irisRange;
+            v = pow(v, lightSensorCurve);
-          lastLightReadTime = t;
+            lastLightValue    = irisMin + v * irisRange;
+            lastLightReadTime = t;
+            lightSensorFailCount = 0;
+          } else { // I2C error
+            if(++lightSensorFailCount >= 50) { // If repeated errors in succession...
+              lightSensorPin = -1; // Stop trying to use the light sensor
+            } else {
+              lastLightReadTime = t - LIGHT_INTERVAL + 40000; // Try again in 40 ms
+            }
+          }
         }
         irisValue = (irisValue * 0.97) + (lastLightValue * 0.03); // Filter response for smooth reaction
       } else {
@@ -556,8 +574,18 @@ void loop() {
       }
 
       float mins = (float)millis() / 60000.0;
-      eye[eyeNum].iris.angle   = (int)((float)eye[eyeNum].iris.startAngle   + eye[eyeNum].iris.spin   * mins + 0.5);
+      if(eye[eyeNum].iris.iSpin) {
-      eye[eyeNum].sclera.angle = (int)((float)eye[eyeNum].sclera.startAngle + eye[eyeNum].sclera.spin * mins + 0.5);
+        // Spin works in fixed amount per frame (eyes may lose sync, but "wagon wheel" tricks work)
+        eye[eyeNum].iris.angle   += eye[eyeNum].iris.iSpin;
+      } else {
+        // Keep consistent timing in spin animation (eyes stay in sync, no "wagon wheel" effects)
+        eye[eyeNum].iris.angle    = (int)((float)eye[eyeNum].iris.startAngle   + eye[eyeNum].iris.spin   * mins + 0.5);
+      }
+      if(eye[eyeNum].sclera.iSpin) {
+        eye[eyeNum].sclera.angle += eye[eyeNum].sclera.iSpin;
+      } else {
+        eye[eyeNum].sclera.angle  = (int)((float)eye[eyeNum].sclera.startAngle + eye[eyeNum].sclera.spin * mins + 0.5);
+      }
 
       // END ONCE-PER-FRAME EYE ANIMATION ----------------------------------
 

M4_Eyes/file.cpp

@@ -257,7 +257,9 @@ void loadConfig(char *filename) {
                   irisMirror   = 0,
                   scleraMirror = 0,
                   irisAngle    = 0,
-                  scleraAngle  = 0;
+                  scleraAngle  = 0,
+                  irisiSpin    = 0,
+                  scleraiSpin  = 0;
       float       irisSpin     = 0.0,
                   scleraSpin   = 0.0;
       JsonVariant iristv       = doc["irisTexture"],
@@ -268,6 +270,10 @@ void loadConfig(char *filename) {
       if(v.is<float>()) irisSpin   = v.as<float>() * -1024.0;
       v = doc["scleraSpin"];
       if(v.is<float>()) scleraSpin = v.as<float>() * -1024.0;
+      v = doc["irisiSpin"];
+      if(v.is<int>()) irisiSpin    = v.as<int>();
+      v = doc["scleraiSpin"];
+      if(v.is<int>()) scleraiSpin  = v.as<int>();
       v = doc["irisMirror"];
       if(v.is<bool>() || v.is<int>()) irisMirror   = v ? 1023 : 0;
       v = doc["scleraMirror"];
@@ -294,6 +300,8 @@ void loadConfig(char *filename) {
         eye[e].sclera.mirror = scleraMirror;
         eye[e].iris.spin     = irisSpin;
         eye[e].sclera.spin   = scleraSpin;
+        eye[e].iris.iSpin    = irisiSpin;
+        eye[e].sclera.iSpin  = scleraiSpin;
         // iris and sclera filenames are strdup'd for each eye rather than
         // sharing a common pointer, reason being that it gets really messy
         // below when overriding one or the other and trying to do the right
@@ -325,6 +333,10 @@ void loadConfig(char *filename) {
         if(v.is<float>()) eye[e].iris.spin   = v.as<float>() * -1024.0;
         v = doc[eye[e].name]["scleraSpin"];
         if(v.is<float>()) eye[e].sclera.spin = v.as<float>() * -1024.0;
+        v = doc[eye[e].name]["irisiSpin"];
+        if(v.is<int>()) eye[e].iris.iSpin   = v.as<int>();
+        v = doc[eye[e].name]["scleraiSpin"];
+        if(v.is<int>()) eye[e].sclera.iSpin = v.as<int>();
         v = doc[eye[e].name]["irisMirror"];
         if(v.is<bool>() || v.is<int>()) eye[e].iris.mirror   = v ? 1023 : 0;
         v = doc[eye[e].name]["scleraMirror"];

M4_Eyes/globals.h

@@ -131,6 +131,7 @@ typedef struct {
   uint16_t  startAngle; // INITIAL rotation 0-1023 CCW
   uint16_t  angle;      // CURRENT rotation 0-1023 CCW
   uint16_t  mirror;     // 0 = normal, 1023 = flip X axis
+  uint16_t  iSpin;      // Per-frame fixed integer spin, overrides 'spin' value
 } texture;
 
 // Each eye then uses the following structure. Each eye must be on its own

Pylint_and_CircuitPython/pylint_example.py

@@ -0,0 +1,45 @@
+import board
+import digitalio
+import adafruit_lis3dh
+import touchio
+import time
+import neopixel
+import adafruit_thermistor
+
+pixels = neopixel.NeoPixel(board.NEOPIXEL, 10, brightness=0.2)
+
+i2c = board.I2C()
+int1 = digitalio.DigitalInOut(board.ACCELEROMETER_UNTERRUPT)
+lis3dh = adafruit_lis3dh.LIS3DH_I2C(i2c, int1=int1)
+
+circuit_playground_temperature = adafruit_thermistor.Thermistor(board.TEMPERATURE, 10000, 10000, 25, 3950)
+
+touch_A1 = touchio.TouchIn(board.A1)
+touch_A2 = touchio.TouchIn(board.A2)
+
+led = digitalio.DigitalInOut(board.D13)
+led.direction = digitalio.Direction.OUTPUT
+
+button_A = digitalio.DigitalInOut(board.BUTTON_A)
+button_A.direction = digitalio.Direction.INPUT
+button_A.pull = digitalio.Pull.DOWN
+
+while True:
+    x, y, z = lis3dh.acceleration
+
+    if button_A.value:
+        led.value = True
+	else:
+        led.value = False
+
+    print("Temperature:", circuit_playground_temperature.temperature)
+    print("Acceleration:", x, y, z)
+
+    if touch_A1.value:
+        pixels.fill((255, 0, 0))
+    if touch_A2.value:
+        pixels.fill((0, 0, 255))
+    else:
+        pixels.fill((0, 0, 0))
+    
+    time.sleep(0.01)