e9afc8922c
CircuitPython code to run on the Adafruit Circuit Playground Express to control the Nintendo R.O.B. robot from 1985 using the CPX IR LED, accelerometer, and buttons to activate various functions.
63 lines
2.9 KiB
Python
63 lines
2.9 KiB
Python
# Nintendo R.O.B. control with Accelerometer, code in CircuitPython
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# Using an Adafruit Circuit Playground Express board with an IR LED
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# Mike Barela for Adafruit Industries, MIT License, May, 2018
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# Acknowledgement to info at http://atariage.com/forums/topic/177286
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# -any-interest-in-nes-rob-homebrews/ and Limor Ladyada Fried
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from digitalio import DigitalInOut, Direction
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from adafruit_circuitplayground.express import cpx
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import board
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import time
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import gc
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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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Up = [1, 0, 1, 0, 1, 0, 1, 1] # Move arms/body down
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Down = [1, 0, 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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# Circuit Playground Express IR LED Setup
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IRled = DigitalInOut(board.REMOTEOUT)
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IRled.direction = Direction.OUTPUT
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# This function performs the LED flashing of a passed command
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# Note timing is very tight. Machine instructions are 2-5 ms or so
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# so that is why the time for cycles doing work is < 16.66667 ms (1/60)
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# Each pulse/space is 1.5 milliseconds out of 16.7 total ms (NTSC)
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def IR_Command(cmd):
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gc.collect() # collect memory now
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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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IRled.value = True # Turn IR LED turn on for 1.5 ms
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time.sleep(0.0015) # 1.5 ms on
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IRled.value = False # Turn IR LED off for 15 ms
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time.sleep(0.0150) # 15 ms
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else:
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time.sleep(0.0167) # 1 cycle turn off
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while True: # Main Loop poll switches, do commands
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x, y, z = cpx.acceleration # Read accelerometer
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print((x, y, z)) # Print for debug
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if x > 5 and y > -8: # Clockwise from back
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IR_Command(Right) # Turn Right
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if x < -5 and y > -8: # Counterclockwise from back
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IR_Command(Left) # Turn Left
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if x > 1 and y < -10: # Move direction of USB
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IR_Command(Up) # Body up
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if x < -1 and y < -10: # Move in direction of battery con
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IR_Command(Down) # Body Down
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if cpx.button_a:
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IR_Command(Open) # Button A opens arms
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if cpx.button_b:
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IR_Command(Close) # Button B closes arms
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if cpx.switch: # Toggle switch turns "test" on
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IR_Command(Test) # which is the LED on R.O.B.s head
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time.sleep(0.1)
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