126 lines
4.5 KiB
Python
126 lines
4.5 KiB
Python
# SPDX-FileCopyrightText: 2019 John Park for Adafruit Industries
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#
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# SPDX-License-Identifier: MIT
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# Circuit Playground Bluefruit Rover
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# Use with the Adafruit BlueFruit LE Connect app
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# Works with CircuitPython 5.0.0-beta.0 and later
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# running on an nRF52840 CPB board and Crickit
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import time
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import board
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import digitalio
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import neopixel
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from adafruit_crickit import crickit
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from adafruit_ble import BLERadio
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from adafruit_ble.advertising.standard import ProvideServicesAdvertisement
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from adafruit_ble.services.nordic import UARTService
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from adafruit_bluefruit_connect.packet import Packet
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# Only the packet classes that are imported will be known to Packet.
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from adafruit_bluefruit_connect.button_packet import ButtonPacket
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from adafruit_bluefruit_connect.color_packet import ColorPacket
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# Prep the status LED on the CPB
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red_led = digitalio.DigitalInOut(board.D13)
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red_led.direction = digitalio.Direction.OUTPUT
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ble = BLERadio()
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uart_service = UARTService()
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advertisement = ProvideServicesAdvertisement(uart_service)
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# motor setup
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motor_1 = crickit.dc_motor_1
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motor_2 = crickit.dc_motor_2
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FWD = 0.25
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REV = -0.25
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neopixels = neopixel.NeoPixel(board.NEOPIXEL, 10, brightness=0.1)
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RED = (200, 0, 0)
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GREEN = (0, 200, 0)
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BLUE = (0, 0, 200)
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PURPLE = (120, 0, 160)
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YELLOW = (100, 100, 0)
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AQUA = (0, 100, 100)
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BLACK = (0, 0, 0)
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color = PURPLE # current NeoPixel color
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neopixels.fill(color)
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print("BLE Turtle Rover")
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print("Use Adafruit Bluefruit app to connect")
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while True:
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neopixels[0] = BLACK
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neopixels.show()
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ble.start_advertising(advertisement)
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while not ble.connected:
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# Wait for a connection.
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pass
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# set a pixel blue when connected
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neopixels[0] = BLUE
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neopixels.show()
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while ble.connected:
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if uart_service.in_waiting:
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# Packet is arriving.
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red_led.value = False # turn off red LED
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packet = Packet.from_stream(uart_service)
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if isinstance(packet, ColorPacket):
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# Change the color.
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color = packet.color
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neopixels.fill(color)
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# do this when buttons are pressed
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if isinstance(packet, ButtonPacket) and packet.pressed:
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red_led.value = True # blink to show packet has been received
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if packet.button == ButtonPacket.UP:
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neopixels.fill(color)
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motor_1.throttle = FWD
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motor_2.throttle = FWD
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elif packet.button == ButtonPacket.DOWN:
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neopixels.fill(color)
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motor_1.throttle = REV
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motor_2.throttle = REV
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elif packet.button == ButtonPacket.RIGHT:
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color = YELLOW
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neopixels.fill(color)
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motor_2.throttle = 0
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motor_1.throttle = FWD
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elif packet.button == ButtonPacket.LEFT:
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color = YELLOW
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neopixels.fill(color)
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motor_2.throttle = FWD
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motor_1.throttle = 0
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elif packet.button == ButtonPacket.BUTTON_1:
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neopixels.fill(RED)
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motor_1.throttle = 0.0
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motor_2.throttle = 0.0
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time.sleep(0.5)
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neopixels.fill(color)
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elif packet.button == ButtonPacket.BUTTON_2:
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color = GREEN
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neopixels.fill(color)
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elif packet.button == ButtonPacket.BUTTON_3:
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color = BLUE
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neopixels.fill(color)
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elif packet.button == ButtonPacket.BUTTON_4:
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color = PURPLE
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neopixels.fill(color)
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# do this when some buttons are released
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elif isinstance(packet, ButtonPacket) and not packet.pressed:
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if packet.button == ButtonPacket.UP:
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neopixels.fill(RED)
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motor_1.throttle = 0
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motor_2.throttle = 0
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if packet.button == ButtonPacket.DOWN:
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neopixels.fill(RED)
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motor_1.throttle = 0
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motor_2.throttle = 0
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if packet.button == ButtonPacket.RIGHT:
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neopixels.fill(RED)
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motor_1.throttle = 0
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motor_2.throttle = 0
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if packet.button == ButtonPacket.LEFT:
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neopixels.fill(RED)
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motor_1.throttle = 0
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motor_2.throttle = 0
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