pimoroni-pico/micropython/examples/inventor2040w/servos/simple_easing.py

62 wiersze
1.8 KiB
Python

import time
import math
import random
from inventor import Inventor2040W, SERVO_1
"""
An example of how to move a servo smoothly between random positions.
Press "User" 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 new Inventor2040W and get a servo from it
board = Inventor2040W()
s = board.servos[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)
update = 0
# Continually move the servo until the user button is pressed
while not board.switch_pressed():
# 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()