65 lines
1.8 KiB
Python
65 lines
1.8 KiB
Python
import time
|
|
import math
|
|
import random
|
|
from pimoroni import Button
|
|
from servo import Servo, servo2040
|
|
|
|
"""
|
|
An example of how to move a servo smoothly between random positions.
|
|
|
|
Press "Boot" to exit the program.
|
|
"""
|
|
|
|
UPDATES = 50 # How many times to update Servos per second
|
|
TIME_FOR_EACH_MOVE = 2 # The time to travel between each random value
|
|
UPDATES_PER_MOVE = TIME_FOR_EACH_MOVE * UPDATES
|
|
|
|
SERVO_EXTENT = 80 # How far from zero to move the servo
|
|
USE_COSINE = True # Whether or not to use a cosine path between values
|
|
|
|
# Create a servo on pin 0
|
|
s = Servo(servo2040.SERVO_1)
|
|
|
|
# Get the initial value and create a random end value between the extents
|
|
start_value = s.mid_value()
|
|
end_value = random.uniform(-SERVO_EXTENT, SERVO_EXTENT)
|
|
|
|
# Create the user button
|
|
user_sw = Button(servo2040.USER_SW)
|
|
|
|
|
|
update = 0
|
|
|
|
# Continually move the servo until the user button is pressed
|
|
while user_sw.raw() is not True:
|
|
|
|
# Calculate how far along this movement to be
|
|
percent_along = update / UPDATES_PER_MOVE
|
|
|
|
if USE_COSINE:
|
|
# Move the servo between values using cosine
|
|
s.to_percent(math.cos(percent_along * math.pi), 1.0, -1.0, start_value, end_value)
|
|
else:
|
|
# Move the servo linearly between values
|
|
s.to_percent(percent_along, 0.0, 1.0, start_value, end_value)
|
|
|
|
# Print out the value the servo is now at
|
|
print("Value = ", round(s.value(), 3), sep="")
|
|
|
|
# Move along in time
|
|
update += 1
|
|
|
|
# Have we reached the end of this movement?
|
|
if update >= UPDATES_PER_MOVE:
|
|
# Reset the counter
|
|
update = 0
|
|
|
|
# Set the start as the last end and create a new random end value
|
|
start_value = end_value
|
|
end_value = random.uniform(-SERVO_EXTENT, SERVO_EXTENT)
|
|
|
|
time.sleep(1.0 / UPDATES)
|
|
|
|
# Disable the servo
|
|
s.disable()
|