magnetic marble

Crickits/mag_neat_o/magneto.py

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+import time
+from busio import I2C
+from adafruit_seesaw.seesaw import Seesaw
+from adafruit_seesaw.pwmout import PWMOut
+from adafruit_motor import motor, servo
+from digitalio import DigitalInOut, Direction, Pull
+import board
+
+print("Mag Neat-o!")
+
+# Create seesaw object
+i2c = I2C(board.SCL, board.SDA)
+seesaw = Seesaw(i2c)
+
+# Create one motor on seesaw PWM pins 22 & 23
+motor_a = motor.DCMotor(PWMOut(seesaw, 22), PWMOut(seesaw, 23))
+# Create another motor on seesaw PWM pins 19 & 18
+motor_b = motor.DCMotor(PWMOut(seesaw, 19), PWMOut(seesaw, 18))
+
+# Create servo object
+pwm = PWMOut(seesaw, 17)     # Servo 1 is on s.s. pin 17
+pwm.frequency = 50           # Servos like 50 Hz signals
+my_servo = servo.Servo(pwm)  # Create my_servo with pwm signa
+my_servo.angle = 90
+
+def smooth_move(start, stop, num_steps):
+    return [(start + (stop-start)*i/num_steps) for i in range(num_steps)]
+
+buttona = DigitalInOut(board.BUTTON_A)
+buttona.direction = Direction.INPUT
+buttona.pull = Pull.DOWN
+
+buttonb = DigitalInOut(board.BUTTON_B)
+buttonb.direction = Direction.INPUT
+buttonb.pull = Pull.DOWN
+
+switch = DigitalInOut(board.SLIDE_SWITCH)
+switch.direction = Direction.INPUT
+switch.pull = Pull.UP
+
+last_buttona = buttona.value
+last_buttonb = buttonb.value
+last_switch = switch.value
+
+last_touch1 = False
+last_touch4 = False
+
+
+while True:
+    touch_vals = (seesaw.touch_read(0), seesaw.touch_read(3))
+    # print(touch_vals)
+
+    touch1 = False
+    if seesaw.touch_read(0) > 500:
+        touch1 = True
+
+    if touch1 != last_touch1:
+        if touch1:
+            start_angle = my_servo.angle
+            end_angle = start_angle - 20
+            end_angle = max(0, min(end_angle, 180))
+            print("left from", start_angle, "to", end_angle)
+            for a in smooth_move(start_angle, end_angle, 25):
+                my_servo.angle = a
+                time.sleep(0.03)
+        last_touch1 = touch1
+
+    touch4 = False
+    if seesaw.touch_read(3) > 500:
+        touch4 = True
+
+    if touch4 != last_touch4:
+        if touch4:
+            start_angle = my_servo.angle
+            end_angle = start_angle + 20
+            end_angle = max(0, min(end_angle, 180))
+            print("right from", start_angle, "to", end_angle)
+            for a in smooth_move(start_angle, end_angle, 25):
+                my_servo.angle = a
+                time.sleep(0.03)
+        last_touch4 = touch4
+
+    if buttona.value != last_buttona:
+        if buttona.value:
+            print("down")
+            if motor_a.throttle:
+                print("haulin!")
+                motor_b.throttle = -0.1
+            else:
+                motor_b.throttle = -0.1
+        else:
+            motor_b.throttle = 0
+        last_buttona = buttona.value
+
+    if buttonb.value != last_buttonb:
+        if buttonb.value:
+            print("up")
+            if motor_a.throttle:
+                print("haulin!")
+                motor_b.throttle = 0.4
+            else:
+                motor_b.throttle = 0.3
+        else:
+            motor_b.throttle = 0
+        last_buttonb = buttonb.value
+
+    if switch.value != last_switch:
+        motor_a.throttle = switch.value
+    if motor_a.throttle:
+        print("GRAB")
+    else:
+        print("RELEASE")
+        last_switch = switch.value
+
+    time.sleep(0.01)