go go raccoon!

Crickits/climbing_raccoon/code.py

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+import time
+import audioio
+from digitalio import DigitalInOut, Pull, Direction
+from adafruit_seesaw.seesaw import Seesaw
+from adafruit_seesaw.pwmout import PWMOut
+from adafruit_motor import stepper
+from busio import I2C
+import neopixel
+import board
+
+# Create seesaw object
+i2c = I2C(board.SCL, board.SDA)
+seesaw = Seesaw(i2c)
+
+led = DigitalInOut(board.D13)
+led.direction = Direction.OUTPUT
+
+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
+
+BOTTOM_SENSOR = 2
+TOP_SENSOR = 3
+seesaw.pin_mode(BOTTOM_SENSOR, seesaw.INPUT_PULLUP)
+seesaw.pin_mode(TOP_SENSOR, seesaw.INPUT_PULLUP)
+
+# Create one stepper motor using the 4 'drive' PWM pins 13, 43, 12 and 42
+pwms = [PWMOut(seesaw, 13), PWMOut(seesaw, 43), PWMOut(seesaw, 12), PWMOut(seesaw, 42)]
+for p in pwms:
+    p.frequency = 2000
+stepper_motor = stepper.StepperMotor(pwms[0], pwms[1], pwms[2], pwms[3])
+
+pixels = neopixel.NeoPixel(board.NEOPIXEL, 10, brightness=1)
+pixels.fill((0,0,0))
+
+
+def rainbow():
+    pixels.fill((20,0,0))
+    time.sleep(0.05)
+    pixels.fill((20,20,0))
+    time.sleep(0.05)
+    pixels.fill((0,20,0))
+    time.sleep(0.05)
+    pixels.fill((0,20,20))
+    time.sleep(0.05)
+    pixels.fill((0,0,20))
+    time.sleep(0.05)
+    pixels.fill((20,0,20))
+    time.sleep(0.05)
+
+# Audio playback object and helper to play a full file
+a = audioio.AudioOut(board.A0)
+def play_file(wavfile):
+    with open(wavfile, "rb") as file:
+        wavf = audioio.WaveFile(file)
+        a.play(wavf)
+        while a.playing:
+            rainbow()
+
+
+last_b_time = last_a_time = 0
+steps = speed = 0
+MINIMUM_SPEED = 1  # in taps per second
+drift_counter = 0
+TOUCH_THRESH = 900
+won = False
+
+def reset():
+    print("Resetting..", end="")
+    while seesaw.digital_read(BOTTOM_SENSOR):
+        stepper_motor.onestep(direction=stepper.BACKWARD, style=stepper.DOUBLE)
+    print("Done!")
+
+print("Racooon crawl!")
+
+reset()
+paused = False
+
+while True:
+    # pause button B
+    if buttonb.value:
+        while buttonb.value:
+            pass
+        paused = not paused
+
+    # reset button A
+    if buttona.value:
+        while buttona.value:
+            pass
+        pixels.fill((0, 0, 0))
+        reset()
+
+    if not seesaw.digital_read(TOP_SENSOR):
+        play_file("madeit.wav")
+        for i in range(20):
+            rainbow()
+        reset()
+    #print(seesaw.touch_read(0))
+    #print(seesaw.touch_read(3))
+    if seesaw.touch_read(0) > TOUCH_THRESH:
+        while seesaw.touch_read(0) > TOUCH_THRESH:
+            pass
+        last_a_time = time.monotonic()
+
+    if seesaw.touch_read(3) > TOUCH_THRESH:
+        while seesaw.touch_read(3) > TOUCH_THRESH:
+            pass
+        last_b_time = time.monotonic()
+
+    delta_a = time.monotonic() - last_a_time
+    delta_b = time.monotonic() - last_b_time
+    #print("Lately... %0.1f & %0.1f" % (delta_a, delta_b))
+
+    speed = 1.0 / max(delta_a, delta_b)
+    print("Speed %0.1f\tSteps %d" % (speed, steps))
+    if speed > MINIMUM_SPEED:
+        # Climb up
+        pixels.fill((0, int(speed*10), 0))
+        for i in range(6):
+            stepper_motor.onestep(direction=stepper.FORWARD, style=stepper.DOUBLE)
+            steps += 1
+    elif not paused:
+        # Fall down
+        pixels.fill((50, 0, 0))
+        if seesaw.digital_read(BOTTOM_SENSOR):
+            stepper_motor.onestep(direction=stepper.BACKWARD)
+            steps -= 1