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‎Crickits/SnakeBot/basic/code.py‎

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# SPDX-FileCopyrightText: 2018 Dave Astels for Adafruit Industries
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#
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# SPDX-License-Identifier: MIT
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import time
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from adafruit_crickit import crickit
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ss = crickit.seesaw
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left_wheel = crickit.dc_motor_1
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right_wheel = crickit.dc_motor_2
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# These allow easy correction for motor speed variation.
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# Factors are determined by observation and fiddling.
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# Start with both having a factor of 1.0 (i.e. none) and
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# adjust until the bot goes more or less straight
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def set_right(speed):
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right_wheel.throttle = speed * 0.9
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def set_left(speed):
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left_wheel.throttle = speed
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# Uncomment this to find the above factors
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# set_right(1.0)
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# set_left(1.0)
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# while True:
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# pass
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while True:
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# tack left
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set_left(0.25)
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set_right(1.0)
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time.sleep(0.75)
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# tack right
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set_left(1.0)
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set_right(0.25)
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time.sleep(0.75)

‎Crickits/SnakeBot/bumpers/code.py‎

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# SPDX-FileCopyrightText: 2018 Dave Astels for Adafruit Industries
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#
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# SPDX-License-Identifier: MIT
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import time
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import random
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from adafruit_crickit import crickit
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LEFT = False
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RIGHT = True
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random.seed(int(time.monotonic()))
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ss = crickit.seesaw
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left_wheel = crickit.dc_motor_1
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right_wheel = crickit.dc_motor_2
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RIGHT_BUMPER = crickit.SIGNAL1
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LEFT_BUMPER = crickit.SIGNAL2
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CENTER_BUMPER = crickit.SIGNAL3
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ss.pin_mode(RIGHT_BUMPER, ss.INPUT_PULLUP)
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ss.pin_mode(LEFT_BUMPER, ss.INPUT_PULLUP)
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ss.pin_mode(CENTER_BUMPER, ss.INPUT_PULLUP)
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# These allow easy correction for motor speed variation.
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# Factors are determined by observation and fiddling.
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# Start with both having a factor of 1.0 (i.e. none) and
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# adjust until the bot goes more or less straight
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def set_right(speed):
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right_wheel.throttle = speed * 0.9
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def set_left(speed):
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left_wheel.throttle = speed
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# Uncomment this to find the above factors
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# set_right(1.0)
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# set_left(1.0)
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# while True:
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# pass
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# Check for bumper activation and move away accordingly
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# Returns False if we got clear, True if we gave up
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def react_to_bumpers():
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attempt_count = 0
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# keep trying to back away and turn until we're free
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while True:
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# give up after 3 tries
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if attempt_count == 3:
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return True
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bumped_left = not ss.digital_read(LEFT_BUMPER)
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bumped_right = not ss.digital_read(RIGHT_BUMPER)
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bumped_center = not ss.digital_read(CENTER_BUMPER)
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# Didn't bump into anything, we're done here
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if not bumped_left and not bumped_right and not bumped_center:
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return False
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# If the middle bumper was triggered, randomly pick a way to turn
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if bumped_center:
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bumped_left = random.choice([False, True])
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bumped_right = not bumped_left
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# Back away a bit
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set_left(-0.5)
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set_right(-0.5)
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time.sleep(0.5)
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# If we bumped on the left, turn to the right
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if bumped_left:
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set_left(1.0)
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set_right(0.0)
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# If we bumped on the right, turn left
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elif bumped_right:
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set_left(0.0)
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set_right(1.0)
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# time to turn for
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time.sleep(random.choice([0.2, 0.3, 0.4]))
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attempt_count += 1
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def tack(direction, duration):
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target_time = time.monotonic() + duration
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if direction == LEFT:
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set_left(0.25)
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set_right(1.0)
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else:
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set_left(1.0)
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set_right(0.25)
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while time.monotonic() < target_time:
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if not(ss.digital_read(LEFT_BUMPER) and
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ss.digital_read(RIGHT_BUMPER) and
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ss.digital_read(CENTER_BUMPER)):
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return react_to_bumpers()
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return False
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while True:
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if tack(LEFT, 0.75):
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break
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if tack(RIGHT, 0.75):
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break
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set_left(0)
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set_right(0)
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while True:
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pass

‎Crickits/SnakeBot/buzzer/code.py‎

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# SPDX-FileCopyrightText: 2018 Dave Astels for Adafruit Industries
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#
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# SPDX-License-Identifier: MIT
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import time
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import random
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from adafruit_crickit import crickit
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LEFT = False
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RIGHT = True
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random.seed(int(time.monotonic()))
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ss = crickit.seesaw
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left_wheel = crickit.dc_motor_1
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right_wheel = crickit.dc_motor_2
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RIGHT_BUMPER = crickit.SIGNAL1
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LEFT_BUMPER = crickit.SIGNAL2
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CENTER_BUMPER = crickit.SIGNAL3
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ss.pin_mode(RIGHT_BUMPER, ss.INPUT_PULLUP)
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ss.pin_mode(LEFT_BUMPER, ss.INPUT_PULLUP)
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ss.pin_mode(CENTER_BUMPER, ss.INPUT_PULLUP)
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# These allow easy correction for motor speed variation.
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# Factors are determined by observation and fiddling.
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# Start with both having a factor of 1.0 (i.e. none) and
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# adjust until the bot goes more or less straight
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def set_right(speed):
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right_wheel.throttle = speed * 0.9
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def set_left(speed):
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left_wheel.throttle = speed
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# Uncomment this to find the above factors
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# set_right(1.0)
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# set_left(1.0)
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# while True:
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# pass
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# Check for bumper activation and move away accordingly
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# Returns False if we got clear, True if we gave up
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def react_to_bumpers():
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attempt_count = 0
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# keep trying to back away and turn until we're free
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while True:
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# give up after 3 tries
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if attempt_count == 3:
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return True
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bumped_left = not ss.digital_read(LEFT_BUMPER)
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bumped_right = not ss.digital_read(RIGHT_BUMPER)
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bumped_center = not ss.digital_read(CENTER_BUMPER)
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# Didn't bump into anything, we're done here
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if not bumped_left and not bumped_right and not bumped_center:
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return False
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# If the middle bumper was triggered, randomly pick a way to turn
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if bumped_center:
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bumped_left |= random.randrange(10) < 5
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bumped_right = not bumped_left
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# Back away a bit
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set_left(-0.5)
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set_right(-0.5)
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time.sleep(0.5)
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# If we bumped on the left, turn to the right
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if bumped_left:
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set_left(1.0)
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set_right(0.0)
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# If we bumped on the right, turn left
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elif bumped_right:
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set_left(0.0)
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set_right(1.0)
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# time to turn for
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time.sleep(random.choice([0.2, 0.3, 0.4]))
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attempt_count += 1
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def tack(direction, duration):
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target_time = time.monotonic() + duration
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if direction == LEFT:
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set_left(0.25)
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set_right(1.0)
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else:
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set_left(1.0)
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set_right(0.25)
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while time.monotonic() < target_time:
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if not(ss.digital_read(LEFT_BUMPER) and
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ss.digital_read(RIGHT_BUMPER) and
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ss.digital_read(CENTER_BUMPER)):
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return react_to_bumpers()
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return False
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while True:
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if tack(LEFT, 0.75):
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break
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if tack(RIGHT, 0.75):
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break
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set_left(0)
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set_right(0)
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while True:
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for _ in range(3):
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crickit.drive_2.fraction = 1.0
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time.sleep(0.1)
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crickit.drive_2.fraction = 0.0
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time.sleep(.2)
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time.sleep(10.0)

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