43 lines
1.1 KiB
Python
43 lines
1.1 KiB
Python
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import time
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import math
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from inventor import Inventor2040W, NUM_SERVOS, LED_SERVO_1
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"""
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An example of applying a wave pattern to a group of servos and the LEDs.
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Press "User" to exit the program.
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"""
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SPEED = 5 # The speed that the LEDs will cycle at
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BRIGHTNESS = 0.4 # The brightness of the LEDs
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UPDATES = 50 # How many times to update LEDs and Servos per second
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SERVO_EXTENT = 80.0 # How far from zero to move the servos
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# Create a new Inventor2040W
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board = Inventor2040W()
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offset = 0.0
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# Make waves until the user button is pressed
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while not board.switch_pressed():
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offset += SPEED / 1000.0
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# Update all the Servos
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for i in range(NUM_SERVOS):
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angle = ((i / NUM_SERVOS) + offset) * math.pi
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board.servos[i].value(math.sin(angle) * SERVO_EXTENT)
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# Read back the servo's angle and use that to set a hue on the neighbouring LED
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hue = ((board.servos[i].value() / SERVO_EXTENT) + 1) * 0.333
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board.leds.set_hsv(i + LED_SERVO_1, hue, 1.0, BRIGHTNESS)
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time.sleep(1.0 / UPDATES)
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# Stop all the servos
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for s in board.servos:
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s.disable()
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# Turn off the LEDs
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board.leds.clear()
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