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added in anticipation motion code

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This commit is contained in:
John Edgar Park 2019-02-11 16:21:59 -08:00
parent ae287cdb97
commit c95a2f9f02
1 changed files with 22 additions and 17 deletions
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39
BLE_Crickit_Light_Switch/ble_crickit_light_switch.py
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@ -26,10 +26,13 @@ uart_server = UARTServer()
UP_ANGLE = 180
NEUTRAL_ANGLE = 120
DOWN_ANGLE = 80
DOWN_ANGLE = 60
crickit.servo_1.angle = NEUTRAL_ANGLE
angle = NEUTRAL_ANGLE # use to track state
print("BLE Light Switch")
print("Use Adafruit Bluefruit app to connect")
while True:
blue_led.value = False
uart_server.start_advertising()
@ -37,23 +40,25 @@ while True:
while not uart_server.connected:
# Wait for a connection.
pass
blue_led.value = True
blue_led.value = True # turn on blue LED when connected
while uart_server.connected:
crickit.servo_1.angle = NEUTRAL_ANGLE
if uart_server.in_waiting:
# Packet is arriving.
red_led.value = False
red_led.value = False # turn off red LED
packet = Packet.from_stream(uart_server)
if isinstance(packet, ButtonPacket) and packet.pressed:
red_led.value = True
if packet.button == ButtonPacket.UP:
# The Up button was pressed.
crickit.servo_1.angle = UP_ANGLE
elif packet.button == ButtonPacket.DOWN:
# The Down button was pressed.
crickit.servo_1.angle = DOWN_ANGLE
# Wait a bit before returning to neutral position.
time.sleep(0.25)
red_led.value = True # blink to show a packet has been received
if packet.button == ButtonPacket.UP and angle != UP_ANGLE: # UP button pressed
angle = NEUTRAL_ANGLE - 45 # set anticipation angle, opposite of goal angle
for a in range(angle, UP_ANGLE+1, 1): # anticipation angle, ramp to goal angle
crickit.servo_1.angle = a
time.sleep(0.1) # wait a moment
crickit.servo_1.angle = NEUTRAL_ANGLE # then return to neutral angle
angle = UP_ANGLE # set state to prevent redundant hits
elif packet.button == ButtonPacket.DOWN and angle != DOWN_ANGLE: # DOWN button
angle = NEUTRAL_ANGLE + 45
for a in range(angle, DOWN_ANGLE-1, -1):
crickit.servo_1.angle = a
time.sleep(0.1) # wait a moment
crickit.servo_1.angle = NEUTRAL_ANGLE # then return to neutral angle
angle = DOWN_ANGLE # set state to prevent redundant hits