simple demo code for plen:bit

Author: ladyada

CLUE_plenbit_demo/code.py

@@ -0,0 +1,73 @@
+# Simple demo for controlling the plen:bit robot
+# NOTE: MUST CUT MIDDLE TRACE ON PCA9685 ADDRESS JUMPER!
+
+import time
+import busio
+import board
+from adafruit_pca9685 import PCA9685
+from adafruit_motor import servo
+from digitalio import DigitalInOut, Direction, Pull
+
+i2c = busio.I2C(board.SCL, board.SDA)
+pca = PCA9685(i2c, address=0x68)
+pca.frequency = 50
+led = DigitalInOut(board.P16)
+led.direction = Direction.OUTPUT
+led.value = True
+
+while True:
+    pass
+servoSetInit = (1000, 630, 500, 600, 240, 600, 1000, 720)
+servoAngle = [1000, 630, 500, 600, 240, 600, 1000, 720]
+motionSpeed = 15
+servos = []
+for n in range(8):
+    servos.append(servo.Servo(pca.channels[n], min_pulse=800, max_pulse=2200))
+
+def servoInitialSet():
+    print("Initialize servos")
+    for n in range(8):
+        servos[n].angle = servoSetInit[n] / 10
+
+def servoFree(n = None):
+    if n:
+        print("Release servo #", n)
+        servos[n].angle = None
+    else:
+        print("Release all servos")
+        for n in range(8):
+            servos[n].angle = None
+
+def servoWrite(num, degrees):
+    degrees = min(max(degrees, 0), 180)
+    servos[num].angle = degrees
+
+# angle is a list of 8 target values
+def setAngle(angle, msec):
+    step = [0, 0, 0, 0, 0, 0, 0, 0]
+    msec = msec / motionSpeed # now 15//default 10; //speedy 20   Speed Adj
+    for val in range(8):
+        target = servoSetInit[val] - angle[val]
+        target = min(max(target, 0), 1800)
+        if (target != servoAngle[val]): # Target != Present
+            step[val] = (target - servoAngle[val]) / msec
+    #print(step)
+    for i in range(msec):
+        for val in range(8):
+            servoAngle[val] += step[val]
+            #print("setting servo %d to %d" % (val, int(servoAngle[val] / 10)))
+            servoWrite(val, servoAngle[val] / 10)
+        #time.sleep(msec / 1000)
+    print(servoAngle)
+
+servoInitialSet()
+#time.sleep(1)
+#servoFree()
+setAngle([0, 0, -200, 0, 0, 0, 0, 0], 500)
+setAngle([0, 0, -1800, 0, 0, 0, 1800, 0], 500)
+setAngle([900, 0, -1800, 0, -900, 0, 1800, 0], 500)
+setAngle([900, 0, -200, 0, -900, 0, 0, 0], 500)
+setAngle([900, 0, -1800, 0, -900, 0, 1800, 0], 500)
+setAngle([900, 0, -200, 0, -900, 0, 0, 0], 500)
+setAngle([0, 0, -200, 0, 0, 0, 0, 0], 500)
+servoFree()