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September 14, 2020 12:19
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| # Support lib for RobotBit from [KittenBot](https://www.kittenbot.cn/), works on Micro:bit and Adafruit CLUE | |
| import busio | |
| import neopixel | |
| import pulseio | |
| from adafruit_motor import servo, motor, stepper | |
| from adafruit_pca9685 import PCA9685 | |
| from board import SCL, SDA, P0, P16 | |
| class RobotBit: | |
| def __init__(self): | |
| self._pca = PCA9685(busio.I2C(SCL, SDA)) | |
| self._pca.frequency = 50 | |
| # 8 servos | |
| self.s1 = servo.Servo(pca.channels[8]) | |
| self.s2 = servo.Servo(pca.channels[9]) | |
| self.s3 = servo.Servo(pca.channels[10]) | |
| self.s4 = servo.Servo(pca.channels[11]) | |
| self.s5 = servo.Servo(pca.channels[12]) | |
| self.s6 = servo.Servo(pca.channels[13]) | |
| self.s7 = servo.Servo(pca.channels[14]) | |
| self.s8 = servo.Servo(pca.channels[15]) | |
| self.servos = [ | |
| self.s1, | |
| self.s2, | |
| self.s3, | |
| self.s4, | |
| self.s5, | |
| self.s6, | |
| self.s7, | |
| self.s8, | |
| ] | |
| # 4 Motors | |
| self.motor1a = motor.DCMotor(pca.channels[0], pca.channels[1]) | |
| self.motor1b = motor.DCMotor(pca.channels[2], pca.channels[3]) | |
| self.motor2a = motor.DCMotor(pca.channels[4], pca.channels[5]) | |
| self.motor2b = motor.DCMotor(pca.channels[6], pca.channels[7]) | |
| self.motors = [ | |
| self.motor1a, | |
| self.motor1b, | |
| self.motor2a, | |
| self.motor2b, | |
| ] | |
| # 2 Steppers | |
| self.stepper1 = stepper.Stepper(pca.channels[0], pca.channels[1], pca.channels[2], pca.channels[3]) | |
| self.stepper2 = stepper.Stepper(pca.channels[4], pca.channels[5], pca.channels[6], pca.channels[7]) | |
| self.steppers = [ | |
| self.stepper1, | |
| self.stepper2, | |
| ] | |
| # 4 NeoPixels on P16 | |
| self.neopixels = neopixel.NeoPixel(P16, 4, brightness=0, auto_write=False) | |
| # Buzzer | |
| self.buzzer = pulseio.PWMOut(P0, variable_frequency=True) |
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