98 lines
3.5 KiB
Python
98 lines
3.5 KiB
Python
# SPDX-FileCopyrightText: Copyright (c) 2024 Liz Clark for Adafruit Industries
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#
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# SPDX-License-Identifier: MIT
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import board
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import audiocore
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import audiobusio
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import audiomixer
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import pwmio
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from digitalio import DigitalInOut, Direction, Pull
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from adafruit_ticks import ticks_ms, ticks_add, ticks_diff
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from adafruit_motor import servo
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import adafruit_vl53l1x
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distance_delay = 4 # how often vl53 is read
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servo_delays = [2.0, 1.5, 1.0, 0.5] # servo spin delay
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distances = [70, 50, 40, 50] # in centimeters
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max_audio = 1
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# audio files
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music = audiocore.WaveFile(open("music-loop-1.wav", "rb"))
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fx_1 = audiocore.WaveFile(open("bat0.wav", "rb"))
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fx_2 = audiocore.WaveFile(open("bat1.wav", "rb"))
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fx_3 = audiocore.WaveFile(open("bat2.wav", "rb"))
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i2c = board.STEMMA_I2C()
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vl53 = adafruit_vl53l1x.VL53L1X(i2c)
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tracks = [music, fx_1, fx_2, fx_3]
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audio = audiobusio.I2SOut(board.I2S_BIT_CLOCK, board.I2S_WORD_SELECT, board.I2S_DATA)
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mixer = audiomixer.Mixer(voice_count=4, sample_rate=22050, channel_count=1,
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bits_per_sample=16, samples_signed=True)
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audio.play(mixer)
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mixer.voice[0].play(tracks[0], loop=True)
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mixer.voice[0].level = 0.0
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# enable external power pin
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# provides power to the external components
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external_power = DigitalInOut(board.EXTERNAL_POWER)
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external_power.direction = Direction.OUTPUT
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external_power.value = True
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switch = DigitalInOut(board.EXTERNAL_BUTTON)
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switch.direction = Direction.INPUT
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switch.pull = Pull.UP
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# servo control
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pwm = pwmio.PWMOut(board.EXTERNAL_SERVO, duty_cycle=2 ** 15, frequency=50)
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servo = servo.ContinuousServo(pwm, min_pulse=750, max_pulse=2250)
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vl53.start_ranging()
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vl53_clock = ticks_ms()
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vl53_time = distance_delay * 1000
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servo_clock = ticks_ms()
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servo_time = int(servo_delays[0] * 1000)
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prop_time = False
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servo_throttle = 0
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while True:
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if switch.value:
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external_power.value = True
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if prop_time:
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if ticks_diff(ticks_ms(), servo_clock) >= servo_time:
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print(servo_throttle)
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servo.throttle = servo_throttle
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servo_throttle = not servo_throttle
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servo_clock = ticks_add(servo_clock, servo_time)
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if ticks_diff(ticks_ms(), vl53_clock) >= vl53_time:
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if vl53.data_ready:
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print(f"Distance: {vl53.distance} cm")
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vl53.clear_interrupt()
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if vl53.distance is None:
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prop_time = False
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mixer.voice[0].level = 0.0
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servo_time = int(servo_delays[0] * 1000)
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servo.throttle = 1.0
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else:
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closest_distance = min(distances, key=lambda x: abs(vl53.distance - x))
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# print(closest_distance)
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if vl53.distance <= distances[0]:
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prop_time = True
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mixer.voice[0].level = max_audio
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else:
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prop_time = False
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mixer.voice[0].level = 0.0
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servo.throttle = 1.0
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if closest_distance == distances[1]:
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mixer.voice[1].play(tracks[1], loop=False)
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servo_time = int(servo_delays[1] * 1000)
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elif closest_distance == distances[2]:
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mixer.voice[2].play(tracks[2], loop=False)
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servo_time = int(servo_delays[2] * 1000)
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elif closest_distance == distances[3]:
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mixer.voice[3].play(tracks[3], loop=False)
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servo_time = int(servo_delays[3] * 1000)
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vl53_clock = ticks_add(vl53_clock, vl53_time)
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else:
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external_power.value = False
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