129 lines
3.8 KiB
Python
129 lines
3.8 KiB
Python
# SPDX-FileCopyrightText: 2018 Limor Fried for Adafruit Industries
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#
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# SPDX-License-Identifier: MIT
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import time
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import gc
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from digitalio import DigitalInOut, Direction, Pull
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from busio import I2C
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from adafruit_seesaw.seesaw import Seesaw
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from adafruit_seesaw.pwmout import PWMOut
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import touchio
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import audioio
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import audiocore
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import neopixel
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import board
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pixels = neopixel.NeoPixel(board.NEOPIXEL, 10, brightness=1)
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pixels.fill((0,0,0))
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# Create seesaw object
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i2c = I2C(board.SCL, board.SDA)
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seesaw = Seesaw(i2c)
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# switch
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switch = DigitalInOut(board.SLIDE_SWITCH)
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switch.direction = Direction.INPUT
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switch.pull = Pull.UP
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# We need some extra captouches
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touch2 = touchio.TouchIn(board.A2)
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touch3 = touchio.TouchIn(board.A3)
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# LED for debugging
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led = DigitalInOut(board.D13)
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led.direction = Direction.OUTPUT
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# Create drive (PWM) object
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INFRARED_LED_SS = 13
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my_drive = PWMOut(seesaw, INFRARED_LED_SS) # Drive 1 is on s.s. pin 13
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my_drive.frequency = 1000 # Our default frequency is 1KHz
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CAPTOUCH_THRESH = 850
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# Commands, each 8 bit command is preceded by the 5 bit Init sequence
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Init = [0, 0, 0, 1, 0] # This must precede any command
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Calibrate = [1, 0, 1, 0, 1, 0, 1, 1] # the initial calibration
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Up = [1, 0, 1, 1, 1, 0, 1, 1] # Move arms/body down
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Down = [1, 1, 1, 1, 1, 0, 1, 1] # Move arms/body up
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Left = [1, 0, 1, 1, 1, 0, 1, 0] # Twist body left
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Right = [1, 1, 1, 0, 1, 0, 1, 0] # Twist body right
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Close = [1, 0, 1, 1, 1, 1, 1, 0] # Close arms
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Open = [1, 1, 1, 0, 1, 1, 1, 0] # Open arms
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Test = [1, 1, 1, 0, 1, 0, 1, 1] # Turns R.O.B. head LED on
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print("R.O.B. Start")
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def IR_Command(cmd):
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print("Sending ", cmd)
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gc.collect() # collect memory now, timing specific!
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# Output initialization and then command cmd
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for val in Init+cmd: # For each value in initial+command
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if val: # if it's a one, flash the IR LED
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seesaw.analog_write(INFRARED_LED_SS, 65535) # on
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seesaw.analog_write(INFRARED_LED_SS, 0) # off 2ms later
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time.sleep(0.013) # 17 ms total
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# pylint: disable=useless-else-on-loop
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else:
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time.sleep(0.015) # 17 ms total
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a = audioio.AudioOut(board.A0)
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startfile = "startup.wav"
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loopfile = "loop.wav"
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with open(startfile, "rb") as f:
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wav = audiocore.WaveFile(f)
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a.play(wav)
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for _ in range(3):
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IR_Command(Calibrate)
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time.sleep(0.5)
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while a.playing:
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IR_Command(Open)
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time.sleep(1)
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IR_Command(Close)
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time.sleep(1)
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f = open(loopfile, "rb")
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wav = audiocore.WaveFile(f)
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a.play(wav, loop=True)
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while True: # Main Loop poll switches, do commands
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led.value = switch.value # easily tell if we're running
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if not switch.value:
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continue
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#touch_vals = (touch2.raw_value, touch3.raw_value, seesaw.touch_read(0), seesaw.touch_read(1),
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# seesaw.touch_read(2), seesaw.touch_read(3))
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#print(touch_vals)
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if touch2.raw_value > 3000:
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print("Open jaws")
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pixels.fill((50,50,0))
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IR_Command(Open) # Button A opens arms
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elif touch3.raw_value > 3000:
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print("Close jaws")
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pixels.fill((0,50,0))
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IR_Command(Close) # Button B closes arms
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elif seesaw.touch_read(0) > CAPTOUCH_THRESH:
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print("Up")
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pixels.fill((50,0,50))
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IR_Command(Up)
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elif seesaw.touch_read(1) > CAPTOUCH_THRESH:
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print("Down")
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pixels.fill((50,50,50))
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IR_Command(Down)
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elif seesaw.touch_read(2) > CAPTOUCH_THRESH:
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print("Left")
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pixels.fill((50,0,0))
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IR_Command(Left)
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elif seesaw.touch_read(3) > CAPTOUCH_THRESH:
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print("Right")
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pixels.fill((0,0,50))
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IR_Command(Right)
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time.sleep(0.1)
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pixels.fill((0,0,0))
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