First commit

Animatronic Hand for CRICKIT, CPX, four servos, cardboard

Animatronic_Hand/touch.py

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+#  Animatronic Hand
+#  CPX with CRICKIT and four servos
+#  touch four cap pads to close the fingers
+
+from digitalio import DigitalInOut, Direction, Pull
+from adafruit_seesaw.seesaw import Seesaw
+from adafruit_seesaw.pwmout import PWMOut
+from adafruit_motor import servo
+from busio import I2C
+import board
+
+i2c = I2C(board.SCL, board.SDA)
+
+ss = Seesaw(i2c)
+
+#################### CPX switch
+# use the CPX onboard switch to turn on/off (helps calibrate)
+switch = DigitalInOut(board.SLIDE_SWITCH)
+switch.direction = Direction.INPUT
+switch.pull = Pull.UP
+
+#################### 4 Servos
+servos = []
+for ss_pin in (17, 16, 15, 14):
+    pwm = PWMOut(ss, ss_pin)
+    pwm.frequency = 50
+    _servo = servo.Servo(pwm)
+    _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]
+cap_justtouched = [False, False, False, False]
+cap_justreleased = [False, False, False, False]
+
+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 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