66 lines
2 KiB
Python
66 lines
2 KiB
Python
# Animatronic Hand
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# CPX with CRICKIT and four servos
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# touch four cap pads to close the fingers
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from digitalio import DigitalInOut, Direction, Pull
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from adafruit_seesaw.seesaw import Seesaw
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from adafruit_seesaw.pwmout import PWMOut
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from adafruit_motor import servo
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from busio import I2C
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import board
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i2c = I2C(board.SCL, board.SDA)
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ss = Seesaw(i2c)
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#################### CPX switch
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# use the CPX onboard switch to turn on/off (helps calibrate)
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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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#################### 4 Servos
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servos = []
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for ss_pin in (17, 16, 15, 14):
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pwm = PWMOut(ss, ss_pin)
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pwm.frequency = 50
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_servo = servo.Servo(pwm)
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_servo.angle = 90 # starting angle, middle
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servos.append(_servo)
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CAPTOUCH_THRESH = 500 # threshold for touch detection
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cap_state = [False, False, False, False]
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cap_justtouched = [False, False, False, False]
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cap_justreleased = [False, False, False, False]
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curl_finger = [False, False, False, False]
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finger_name = ['Index', 'Middle', 'Ring', 'Pinky']
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while True:
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if not switch.value: # the CPX switch is off, so do nothing
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continue
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# Check the cap touch sensors to see if they're being touched
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for i in range(4):
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touch_val = ss.touch_read(i)
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cap_justtouched[i] = False
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cap_justreleased[i] = False
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if touch_val > CAPTOUCH_THRESH:
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# print("CT" + str(i + 1) + " touched! value: " + str(touch_val))
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if not cap_state[i]:
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cap_justtouched[i] = True
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print("%s finger bent." % finger_name[i])
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servos[i].angle = 0
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cap_state[i] = True
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else:
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if cap_state[i]:
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cap_justreleased[i] = True
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print("%s finger straightened." % finger_name[i])
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servos[i].angle = 180
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# print("CT" + str(i + 1) + " released!")
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cap_state[i] = False
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if cap_justtouched[i]:
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curl_finger[i] = not curl_finger[i]
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