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code cleanup

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removed adc code, simplified switch use
This commit is contained in:
John Edgar Park 2018-05-21 10:12:22 -07:00
parent bd12a37c50
commit d8f1a3cf05
1 changed files with 24 additions and 29 deletions
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53
Animatronic_Hand/touch.py
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@ -10,7 +10,6 @@ from busio import I2C
import board
i2c = I2C(board.SCL, board.SDA)
ss = Seesaw(i2c)
#################### CPX switch
@ -28,9 +27,6 @@ for ss_pin in (17, 16, 15, 14):
_servo.angle = 90 # starting angle, middle
servos.append(_servo)
CRCKIT_NUM_ADC = 8
CRCKit_adc = [2, 3, 40, 41, 11, 10, 9, 8]
CAPTOUCH_THRESH = 500 # threshold for touch detection
cap_state = [False, False, False, False]
@ -41,31 +37,30 @@ curl_finger = [False, False, False, False]
finger_name = ['Index', 'Middle', 'Ring', 'Pinky']
while True:
if switch.value: # the CPX switch is on, so do things
# Check the cap touch sensors to see if they're being touched
for i in range(4):
touch_val = ss.touch_read(i)
cap_justtouched[i] = False
cap_justreleased[i] = False
if not switch.value: # the CPX switch is off, so do nothing
continue
# Check the cap touch sensors to see if they're being touched
for i in range(4):
touch_val = ss.touch_read(i)
cap_justtouched[i] = False
cap_justreleased[i] = False
if touch_val > CAPTOUCH_THRESH:
# print("CT" + str(i + 1) + " touched! value: " + str(touch_val))
if not cap_state[i]:
cap_justtouched[i] = True
print("%s finger bent." % finger_name[i])
servos[i].angle = 0
cap_state[i] = True
if touch_val > CAPTOUCH_THRESH:
# print("CT" + str(i + 1) + " touched! value: " + str(touch_val))
if not cap_state[i]:
cap_justtouched[i] = True
print("%s finger bent." % finger_name[i])
servos[i].angle = 0
cap_state[i] = True
else:
if cap_state[i]:
cap_justreleased[i] = True
print("%s finger straightened." % finger_name[i])
servos[i].angle = 180
# print("CT" + str(i + 1) + " released!")
cap_state[i] = False
if cap_justtouched[i]:
curl_finger[i] = not curl_finger[i]
else:
pass
if cap_state[i]:
cap_justreleased[i] = True
print("%s finger straightened." % finger_name[i])
servos[i].angle = 180
# print("CT" + str(i + 1) + " released!")
cap_state[i] = False
if cap_justtouched[i]:
curl_finger[i] = not curl_finger[i]