final project to crickitfy
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ladyada
parent
e48eb89fc5
commit
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2 changed files with 30 additions and 50 deletions
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@ -3,15 +3,8 @@
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import time
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from digitalio import DigitalInOut, Direction, Pull
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import audioio
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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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# Create I2C and seesaw objuect
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i2c = I2C(board.SCL, board.SDA)
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ss = Seesaw(i2c)
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from adafruit_crickit import crickit
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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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@ -21,9 +14,9 @@ switch.pull = Pull.UP
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#################### Audio setup
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print("Let's count in binary.")
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wavfiles = ["one.wav", "two.wav", "three.wav", "four.wav", "five.wav", "six.wav",
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wavfiles = ("one.wav", "two.wav", "three.wav", "four.wav", "five.wav", "six.wav",
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"seven.wav", "eight.wav", "nine.wav", "ten.wav", "eleven.wav",
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"twelve.wav", "thirteen.wav", "fourteen.wav", "fifteen.wav"]
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"twelve.wav", "thirteen.wav", "fourteen.wav", "fifteen.wav")
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introfile = "intro.wav"
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cpx_audio = audioio.AudioOut(board.A0)
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@ -34,17 +27,13 @@ def play_file(wavfile):
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while cpx_audio.playing:
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pass
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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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#################### 4 Servos!
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servos = (crickit.servo_1, crickit.servo_2, crickit.servo_3, crickit.servo_4)
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for servo in servos:
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servo.angle = 180 # starting angle, open hand
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# Which servos to actuate for each number
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counting = [
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counting = (
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[3],
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[2],
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[3, 2],
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@ -60,7 +49,7 @@ counting = [
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[0, 3, 1],
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[0, 2, 1],
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[0, 3, 2, 1]
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]
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)
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play_file(introfile)
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@ -69,26 +58,26 @@ while True:
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continue
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# the CPX switch is on, so do things
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for i in range(4): # close the fist
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servos[i].angle = 0 # close the fingers
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print("Servo %s angle = 0" % i )
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for servo in servos: # close the fist
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servo.angle = 0 # close the fingers
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print("Servo %d angle = 0" % (servos.index(servo)+1) )
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time.sleep(.2)
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time.sleep(1) # pause a moment
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for i in range(len(counting)):
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# close all the counting fingers between numbers
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for k in range(4):
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servos[k].angle = 0 # close
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print("\t\tServo #%d angle 0" % k)
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for servo in servos:
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servo.angle = 0 # close
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print("\t\tServo #%d angle 0" % (servos.index(servo)+1))
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time.sleep(0.3)
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print("Number #%d \tfingers: %s" % (i+1, counting[i]))
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# open just the indicated fingers when counting
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for j in range(len(counting[i])):
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servos[counting[i][j]].angle = 180 # open
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print("\t\tServo #%d angle 180" % counting[i][j])
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for finger in counting[i]:
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servos[finger].angle = 180 # open
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print("\t\tServo #%d angle 180" % (finger+1))
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time.sleep(0.3)
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# say it!
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play_file(wavfiles[i])
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@ -2,15 +2,9 @@
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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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from digitalio import DigitalInOut, Direction, Pull
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from adafruit_crickit import crickit
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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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@ -18,16 +12,13 @@ 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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#################### 4 Servos!
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servos = (crickit.servo_1, crickit.servo_2, crickit.servo_3, crickit.servo_4)
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for servo in servos:
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servo.angle = 180 # starting angle, open hand
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CAPTOUCH_THRESH = 500 # threshold for touch detection
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#################### 4 Touch sensors!
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touches = (crickit.touch_1, crickit.touch_2, crickit.touch_3, crickit.touch_4)
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cap_state = [False, False, False, False]
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cap_justtouched = [False, False, False, False]
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@ -41,16 +32,16 @@ while True:
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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 touches[i].value:
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#print("CT" + str(i + 1) + " touched!")
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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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# store the fact that this pad is touched
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cap_state[i] = True
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else:
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@ -59,7 +50,7 @@ while 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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# store the fact that this pad is NOT touched
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cap_state[i] = False
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if cap_justtouched[i]:
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