57 lines
1.9 KiB
Python
57 lines
1.9 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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import board
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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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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 = (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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#################### 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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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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cap_justtouched[i] = False
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cap_justreleased[i] = False
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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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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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# 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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curl_finger[i] = not curl_finger[i]
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