Code for Terrako

Code for Terrako

Terrako_Robot/code.py

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+"""
+Guardian Egg Shoulder Robot with servo and NeoPixel ring
+"""
+
+# pylint: disable=import-error
+import time
+import random
+import board
+import pwmio
+import neopixel
+from adafruit_motor import servo
+from adafruit_led_animation.animation.comet import Comet
+from adafruit_led_animation.animation.SparklePulse import SparklePulse
+from adafruit_led_animation.sequence import AnimationSequence
+from adafruit_led_animation.color import RED, BLUE
+
+PIXEL_PIN = board.D5
+SERVO_PIN = board.A2
+NUM_PIXELS = 12
+ORDER = neopixel.GRB
+BRIGHTNESS = 0.6
+
+# Initialize servo
+PWM = pwmio.PWMOut(SERVO_PIN, frequency=50)
+SERVO = servo.Servo(PWM)
+
+# Initialize NeoPixels and animations
+PIXELS = neopixel.NeoPixel(PIXEL_PIN, NUM_PIXELS, auto_write=False,
+                           pixel_order=ORDER)
+LARSON = Comet(PIXELS, bounce=True, speed=0.6/NUM_PIXELS,
+               tail_length=NUM_PIXELS//2,
+               color=(RED[0] * BRIGHTNESS,  # This is a little faster than
+                      RED[1] * BRIGHTNESS,  # using the NeoPixel brightness
+                      RED[2] * BRIGHTNESS)) # setting.
+SPARKLE = SparklePulse(PIXELS, period=2, speed=0.15,
+                       max_intensity=BRIGHTNESS, color=BLUE)
+ANIMATIONS = AnimationSequence(LARSON, SPARKLE, advance_interval=7,
+                               auto_clear=False)
+
+SERVO.angle = POSITION = NEXT_POSITION = 90
+MOVING = False                # Initial state = paused
+START_TIME = time.monotonic() # Initial time
+DURATION = 1.0                # Hold initial position for 1 sec
+
+while True: # Loop forever...
+
+    # Move turret -- randomly looks around and pauses
+    NOW = time.monotonic()
+    ELAPSED = NOW - START_TIME # Seconds since start of motion or pause
+    if ELAPSED >= DURATION:    # End motion/pause?
+        MOVING = not MOVING    # Toggle between those two states
+        START_TIME = NOW       # and record the new starting time
+        ELAPSED = 0.0
+        if MOVING:             # Switching from paused to moving
+            POSITION = NEXT_POSITION
+            while abs(POSITION - NEXT_POSITION) < 10:  # Min +/- 10 degrees
+                NEXT_POSITION = random.uniform(0, 180) # Try, try again
+            DURATION = 0.2 + 0.6 * abs(POSITION - NEXT_POSITION) / 180
+        else:                  # Switching from moving to paused
+            SERVO.angle = NEXT_POSITION         # Move to end of sweep
+            DURATION = random.uniform(0.5, 2.5) # Pause time
+    if MOVING:
+        FRACTION = ELAPSED / DURATION                        # Linear 0 to 1
+        FRACTION = (3 * FRACTION ** 2) - (2 * FRACTION ** 3) # Ease in/out
+        SERVO.angle = POSITION + (NEXT_POSITION - POSITION) * FRACTION
+
+    ANIMATIONS.animate() # Cycle through NeoPixel animations