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Last active March 28, 2022 08:03
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Program Otto DIY robot for basic movements with CircuitPython
Raw
code.py
"""
Program Otto DIY robot for basic movements with CircuitPython
https://youtu.be/yhI3i0DSZoo
Board:
- Maker Nano RP2040
https://my.cytron.io/maker-nano-rp2040-simplifying-projects-with-raspberry-pi-rp2040
- IO Expansion Shield for Arduino Nano
https://my.cytron.io/p-io-expansion-shield-for-arduino-nano
- SG90 Micro Servo
https://my.cytron.io/p-sg90-micro-servo
- 5VDC HC-SR04 Ultrasonic Sensor
https://my.cytron.io/p-5v-hc-sr04-ultrasonic-sensor
- 3D printing products
https://my.cytron.io/c-3d-modeling
Connections:
- Servo left leg = GP2
- Servo right leg = GP3
- Servo left foot = GP4
- Servo right foot = GP5
- Ultrasonic trig = GP7
- Ultrasonic echo = GP6
Libraries required from bundle (https://circuitpython.org/libraries):
- adafruit_motor
- adafruit_hcsr04.mpy
- simpleio.mpy
Otto DIY
- https://www.ottodiy.com/
Last Modified: 28 Mar 2022
"""
import time
import board
import digitalio
import simpleio
import pwmio
from adafruit_motor import servo
import adafruit_hcsr04
sonar = adafruit_hcsr04.HCSR04(trigger_pin=board.GP7, echo_pin=board.GP6)
SERVO_LL = board.GP2 # Servo for left leg
SERVO_LR = board.GP3 # Servo for right leg
SERVO_FL = board.GP4 # Servo for left foot
SERVO_FR = board.GP5 # Servo for right foot
pwm_ll = pwmio.PWMOut(SERVO_LL, duty_cycle=2 ** 15, frequency=50)
pwm_lr = pwmio.PWMOut(SERVO_LR, duty_cycle=2 ** 15, frequency=50)
pwm_fl = pwmio.PWMOut(SERVO_FL, duty_cycle=2 ** 15, frequency=50)
pwm_fr = pwmio.PWMOut(SERVO_FR, duty_cycle=2 ** 15, frequency=50)
servo_ll = servo.Servo(pwm_ll)
servo_lr = servo.Servo(pwm_lr)
servo_fl = servo.Servo(pwm_fl)
servo_fr = servo.Servo(pwm_fr)
offset_ll = 8
offset_lr = 0
offset_fl = 10
offset_fr = 0
defaultpos_ll = 90 - offset_ll
defaultpos_lr = 90 - offset_lr
defaultpos_fl = 90 - offset_fl
defaultpos_fr = 90 - offset_fr
def stand():
servo_ll.angle = defaultpos_ll
servo_lr.angle = defaultpos_lr
servo_fl.angle = defaultpos_fl
servo_fr.angle = defaultpos_fr
time.sleep(1)
def dance_1():
for count in range(5):
servo_fl.angle = defaultpos_fl - (count*10)
time.sleep(0.02)
for count in range(4, -1, -1):
servo_fl.angle = defaultpos_fl - (count*10)
time.sleep(0.02)
def dance_2():
for count in range(5):
servo_fr.angle = defaultpos_fr + (count*10)
time.sleep(0.02)
for count in range(4, -1, -1):
servo_fr.angle = defaultpos_fr + (count*10)
time.sleep(0.02)
def dance_3():
for count in range(6):
servo_fl.angle = defaultpos_fl + (count*10)
time.sleep(0.02)
for count in range(6):
servo_fr.angle = defaultpos_fr - (count*10)
time.sleep(0.02)
time.sleep(0.2)
for count in range(5, -1, -1):
servo_fl.angle = defaultpos_fl + (count*10)
time.sleep(0.02)
for count in range(5, -1, -1):
servo_fr.angle = defaultpos_fr - (count*10)
time.sleep(0.02)
def dance_4():
for count in range(6):
servo_fr.angle = defaultpos_fr - (count*10)
time.sleep(0.02)
for count in range(6):
servo_fl.angle = defaultpos_fl + (count*10)
time.sleep(0.02)
time.sleep(0.2)
for count in range(5, -1, -1):
servo_fr.angle = defaultpos_fr - (count*10)
time.sleep(0.02)
for count in range(5, -1, -1):
servo_fl.angle = defaultpos_fl + (count*10)
time.sleep(0.02)
def dance_5():
for count in range(6):
servo_fr.angle = defaultpos_fr - (count*10)
servo_fl.angle = defaultpos_fl + (count*10)
time.sleep(0.02)
time.sleep(0.5)
for count in range(5, -1, -1):
servo_fr.angle = defaultpos_fr - (count*10)
servo_fl.angle = defaultpos_fl + (count*10)
time.sleep(0.02)
time.sleep(0.3)
def dance_6():
for count in range(3):
servo_ll.angle = defaultpos_ll - (count*10)
servo_lr.angle = defaultpos_lr - (count*10)
time.sleep(0.02)
time.sleep(0.3)
for count in range(3):
for count in range(5):
servo_ll.angle = defaultpos_ll + (count*10) - 20
servo_lr.angle = defaultpos_lr + (count*10) - 20
time.sleep(0.02)
time.sleep(0.3)
for count in range(5):
servo_ll.angle = defaultpos_ll - (count*10) + 20
servo_lr.angle = defaultpos_lr - (count*10) + 20
time.sleep(0.02)
time.sleep(0.3)
def walk_forward():
for count in range(4):
servo_fl.angle = defaultpos_fl + (count*10)
servo_fr.angle = defaultpos_fr + (count*2)
time.sleep(0.02)
for count in range(3):
servo_ll.angle = defaultpos_ll - (count*10)
servo_lr.angle = defaultpos_lr - (count*10)
time.sleep(0.02)
for count in range(3):
for count in range(3, -1, -1):
servo_fl.angle = defaultpos_fl + (count*10)
servo_fr.angle = defaultpos_fr + (count*2)
time.sleep(0.02)
for count in range(4):
servo_fl.angle = defaultpos_fl - (count*2)
servo_fr.angle = defaultpos_fr - (count*10)
time.sleep(0.02)
for count in range(5):
servo_ll.angle = defaultpos_ll + (count*10) - 20
servo_lr.angle = defaultpos_lr + (count*10) - 20
time.sleep(0.02)
for count in range(3, -1, -1):
servo_fl.angle = defaultpos_fl - (count*2)
servo_fr.angle = defaultpos_fr - (count*10)
time.sleep(0.02)
for count in range(4):
servo_fl.angle = defaultpos_fl + (count*10)
servo_fr.angle = defaultpos_fr + (count*2)
time.sleep(0.02)
for count in range(5):
servo_ll.angle = defaultpos_ll - (count*10) + 20
servo_lr.angle = defaultpos_lr - (count*10) + 20
time.sleep(0.02)
for count in range(3, -1, -1):
servo_fl.angle = defaultpos_fl + (count*10)
servo_fr.angle = defaultpos_fr + (count*2)
time.sleep(0.02)
for count in range(4):
servo_fl.angle = defaultpos_fl - (count*2)
servo_fr.angle = defaultpos_fr - (count*10)
time.sleep(0.02)
for count in range(3):
servo_ll.angle = defaultpos_ll + (count*10) - 20
servo_lr.angle = defaultpos_lr + (count*10) - 20
time.sleep(0.02)
for count in range(3, -1, -1):
servo_fl.angle = defaultpos_fl - (count*2)
servo_fr.angle = defaultpos_fr - (count*10)
time.sleep(0.02)
def walk_backward():
for count in range(4):
servo_fl.angle = defaultpos_fl - (count*2)
servo_fr.angle = defaultpos_fr - (count*10)
time.sleep(0.02)
for count in range(3):
servo_ll.angle = defaultpos_ll - (count*10)
servo_lr.angle = defaultpos_lr - (count*10)
time.sleep(0.02)
for count in range(3):
for count in range(3, -1, -1):
servo_fl.angle = defaultpos_fl - (count*2)
servo_fr.angle = defaultpos_fr - (count*10)
time.sleep(0.02)
for count in range(4):
servo_fl.angle = defaultpos_fl + (count*10)
servo_fr.angle = defaultpos_fr + (count*2)
time.sleep(0.02)
for count in range(5):
servo_ll.angle = defaultpos_ll + (count*10) - 20
servo_lr.angle = defaultpos_lr + (count*10) - 20
time.sleep(0.02)
for count in range(3, -1, -1):
servo_fl.angle = defaultpos_fl + (count*10)
servo_fr.angle = defaultpos_fr + (count*2)
time.sleep(0.02)
for count in range(4):
servo_fl.angle = defaultpos_fl - (count*2)
servo_fr.angle = defaultpos_fr - (count*10)
time.sleep(0.02)
for count in range(5):
servo_ll.angle = defaultpos_ll - (count*10) + 20
servo_lr.angle = defaultpos_lr - (count*10) + 20
time.sleep(0.02)
for count in range(3, -1, -1):
servo_fl.angle = defaultpos_fl - (count*2)
servo_fr.angle = defaultpos_fr - (count*10)
time.sleep(0.02)
for count in range(4):
servo_fl.angle = defaultpos_fl + (count*10)
servo_fr.angle = defaultpos_fr + (count*2)
time.sleep(0.02)
for count in range(3):
servo_ll.angle = defaultpos_ll + (count*10) - 20
servo_lr.angle = defaultpos_lr + (count*10) - 20
time.sleep(0.02)
for count in range(3, -1, -1):
servo_fl.angle = defaultpos_fl + (count*10)
servo_fr.angle = defaultpos_fr + (count*2)
time.sleep(0.02)
time.sleep(1)
stand()
object_distance = 0
mode = 0
run = False
while True:
try:
object_distance = sonar.distance
print("Object distance: {}cm".format(object_distance))
if object_distance < 15:
mode += 1
run = True
time.sleep(2)
except RuntimeError:
print("Retrying!")
time.sleep(0.1)
if mode == 1 and run == True:
run = False
for count in range(3):
dance_1()
time.sleep(0.2)
stand()
elif mode == 2 and run == True:
run = False
for count in range(3):
dance_2()
time.sleep(0.2)
stand()
elif mode == 3 and run == True:
run = False
dance_3()
time.sleep(0.5)
dance_4()
time.sleep(0.5)
dance_5()
stand()
elif mode == 4 and run == True:
run = False
dance_6()
stand()
elif mode == 5 and run == True:
run = False
walk_forward()
stand()
elif mode == 6 and run == True:
mode = 0
run = False
walk_backward()
stand()
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