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Author: TheKitty

Crickits/Animatronic_Hand/CRICKIT_servos_speaker.fzz

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+# SPDX-FileCopyrightText: 2018 John Edgar Park for Adafruit Industries
+#
+# SPDX-License-Identifier: MIT
+
+#  Animatronic Hand
+#  Binary Counting on four fingers up to 15
+import time
+from digitalio import DigitalInOut, Direction, Pull
+import audioio
+import audiocore
+import board
+from adafruit_crickit import crickit
+
+#################### CPX switch
+# use the CPX onboard switch to turn on/off (helps calibrate)
+switch = DigitalInOut(board.SLIDE_SWITCH)
+switch.direction = Direction.INPUT
+switch.pull = Pull.UP
+
+#################### Audio setup
+print("Let's count in binary.")
+wavfiles = ("one.wav", "two.wav", "three.wav", "four.wav", "five.wav", "six.wav",
+            "seven.wav", "eight.wav", "nine.wav", "ten.wav", "eleven.wav",
+            "twelve.wav", "thirteen.wav", "fourteen.wav", "fifteen.wav")
+introfile = "intro.wav"
+
+cpx_audio = audioio.AudioOut(board.A0)
+def play_file(wavfile):
+    with open(wavfile, "rb") as f:
+        wav = audiocore.WaveFile(f)
+        cpx_audio.play(wav)
+        while cpx_audio.playing:
+            pass
+
+#################### 4 Servos!
+servos = (crickit.servo_1, crickit.servo_2, crickit.servo_3, crickit.servo_4)
+for servo in servos:
+    servo.angle = 180 # starting angle, open hand
+
+# Which servos to actuate for each number
+counting = (
+    [3],
+    [2],
+    [3, 2],
+    [1],
+    [1, 3],
+    [1, 2],
+    [3, 2, 1],
+    [0],
+    [0, 3],
+    [0, 2],
+    [0, 3, 2],
+    [0, 1],
+    [0, 3, 1],
+    [0, 2, 1],
+    [0, 3, 2, 1]
+)
+
+play_file(introfile)
+
+while True:
+    if not switch.value:
+        continue
+
+    # the CPX switch is on, so do things
+    for servo in servos:  # close the fist
+        servo.angle = 0  # close the fingers
+        print("Servo %d angle = 0" % (servos.index(servo)+1) )
+        time.sleep(.2)
+
+    time.sleep(1)  # pause a moment
+
+    for i in range(len(counting)):
+        # close all the counting fingers between numbers
+        for servo in servos:
+            servo.angle = 0  # close
+            print("\t\tServo #%d angle 0" % (servos.index(servo)+1))
+            time.sleep(0.3)
+
+        print("Number #%d \tfingers: %s" % (i+1, counting[i]))
+
+        # open just the indicated fingers when counting
+        for finger in counting[i]:
+            servos[finger].angle = 180  # open
+            print("\t\tServo #%d angle 180" % (finger+1))
+            time.sleep(0.3)
+        # say it!
+        play_file(wavfiles[i])
+        # hold for a bit of time
+        time.sleep(0.3)
+        print("...")

Crickits/Animatronic_Hand/audioanim.png

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+# SPDX-FileCopyrightText: 2018 John Edgar Park for Adafruit Industries
+#
+# SPDX-License-Identifier: MIT
+
+#  Animatronic Hand
+#  CPX with CRICKIT and four servos
+#  touch four cap pads to close the fingers
+
+import board
+from digitalio import DigitalInOut, Direction, Pull
+from adafruit_crickit import crickit
+
+#################### CPX switch
+# use the CPX onboard switch to turn on/off (helps calibrate)
+switch = DigitalInOut(board.SLIDE_SWITCH)
+switch.direction = Direction.INPUT
+switch.pull = Pull.UP
+
+#################### 4 Servos!
+servos = (crickit.servo_1, crickit.servo_2, crickit.servo_3, crickit.servo_4)
+for servo in servos:
+    servo.angle = 180 # starting angle, open hand
+
+#################### 4 Touch sensors!
+touches = (crickit.touch_1, crickit.touch_2, crickit.touch_3, crickit.touch_4)
+
+cap_state = [False, False, False, False]
+cap_justtouched = [False, False, False, False]
+cap_justreleased = [False, False, False, False]
+
+curl_finger = [False, False, False, False]
+finger_name = ['Index', 'Middle', 'Ring', 'Pinky']
+
+while True:
+    if not switch.value:  # the CPX switch is off, so do nothing
+        continue
+    # Check the cap touch sensors to see if they're being touched
+    for i in range(4):
+        cap_justtouched[i] = False
+        cap_justreleased[i] = False
+
+        if touches[i].value:
+            #print("CT" + str(i + 1) + " touched!")
+            if not cap_state[i]:
+                cap_justtouched[i] = True
+                print("%s finger bent." % finger_name[i])
+                servos[i].angle = 0
+            # store the fact that this pad is touched
+            cap_state[i] = True
+
+        else:
+            if cap_state[i]:
+                cap_justreleased[i] = True
+                print("%s finger straightened." % finger_name[i])
+                servos[i].angle = 180
+                # print("CT" + str(i + 1) + " released!")
+            # store the fact that this pad is NOT touched
+            cap_state[i] = False
+
+        if cap_justtouched[i]:
+            curl_finger[i] = not curl_finger[i]