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Author: TheKitty

Crickits/Stumblebot/code.py

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+# SPDX-FileCopyrightText: 2018 Dano Wall for Adafruit Industries
+# SPDX-FileCopyrightText: 2018 Anne Barela for Adafruit Industries
+#
+# SPDX-License-Identifier: MIT
+
+# Stumble bot, coded in CircuitPython
+# Using an Adafruit Circuit Playground Express, Crickit, and 2 servos
+# Dano Wall, Anne Barela for Adafruit Industries, MIT License, May, 2018
+#
+import time
+import board
+from digitalio import DigitalInOut, Direction, Pull
+from adafruit_crickit import crickit
+
+led = DigitalInOut(board.D13)            # Set up Red LED
+led.direction = Direction.OUTPUT
+
+button_A = DigitalInOut(board.BUTTON_A)  # Set up switch A
+button_A.direction = Direction.INPUT
+button_A.pull = Pull.DOWN
+
+# Create servos list
+servos = [crickit.servo_1, crickit.servo_2]
+
+# TowerPro servos like 500/2500 pulsewidths
+servos[0].set_pulse_width_range(min_pulse=500, max_pulse=2500)
+servos[1].set_pulse_width_range(min_pulse=500, max_pulse=2500)
+
+# starting angle, middle
+servos[1].angle = 90
+servos[0].angle = 90
+
+def servo_front(direction):
+    if direction > 0:
+        index = 50
+        while index <= 100:
+            servos[1].angle = index
+            time.sleep(0.040)
+            index = index + 2
+    if direction < 0:
+        index = 100
+        while index >= 50:
+            servos[1].angle = index
+            time.sleep(0.040)
+            index = index - 2
+    time.sleep(0.002)
+
+def servo_back(direction):
+    if direction > 0:
+        index = 60
+        while index <= 90:
+            servos[0].angle = index
+            time.sleep(0.040)
+            index = index + 4
+    if direction < 0:
+        index = 100
+        while index >= 50:
+            servos[0].angle = index
+            time.sleep(0.040)
+            index = index - 4
+    time.sleep(0.020)
+
+print("Its Stumble Bot Time")
+
+while True:
+    if button_A.value:     # If button A is pressed, start bot
+        led.value = True   # Turn on LED 13 to show we're gone!
+        for i in range(5):
+            print("back 1")
+            servo_back(1)
+            time.sleep(0.100)
+            print("front 1")
+            servo_front(1)
+            time.sleep(0.100)
+            print("back 2")
+            servo_back(-1)
+            time.sleep(0.100)
+            print("front 2")
+            servo_front(-1)
+            time.sleep(0.100)
+        led.value = False
+    # end if
+# end while