a

old_stuff/reset.py

@@ -0,0 +1,9 @@
+import time
+from adafruit_servokit import ServoKit
+
+
+kit = ServoKit(channels=16)
+
+
+for x in range(11):
+    kit.servo[x].angle = 55

old_stuff/simpletest.py

@@ -0,0 +1,55 @@
+# Simple demo of of the PCA9685 PWM servo/LED controller library.
+# This will move channel 0 from min to max position repeatedly.
+# Author: Tony DiCola
+# License: Public Domain
+from __future__ import division
+import time
+
+# Import the PCA9685 module.
+import Adafruit_PCA9685
+
+
+# Uncomment to enable debug output.
+#import logging
+#logging.basicConfig(level=logging.DEBUG)
+
+# Initialise the PCA9685 using the default address (0x40).
+pwm = Adafruit_PCA9685.PCA9685()
+
+# Alternatively specify a different address and/or bus:
+#pwm = Adafruit_PCA9685.PCA9685(address=0x41, busnum=2)
+
+# Configure min and max servo pulse lengths
+servo_min = 150  # Min pulse length out of 4096
+servo_max = 400  # Max pulse length out of 4096
+
+# Helper function to make setting a servo pulse width simpler.
+def set_servo_pulse(channel, pulse):
+    pulse_length = 1000000    # 1,000,000 us per second
+    pulse_length //= 60       # 60 Hz
+    print('{0}us per period'.format(pulse_length))
+    pulse_length //= 4096     # 12 bits of resolution
+    print('{0}us per bit'.format(pulse_length))
+    pulse *= 1000
+    pulse //= pulse_length
+    pwm.set_pwm(channel, 0, pulse)
+
+# Set frequency to 60hz, good for servos.
+pwm.set_pwm_freq(60)
+
+print('Moving servo on channel 0, press Ctrl-C to quit...')
+while True:
+    # Move servo on channel O between extremes.
+    pwm.set_pwm(0, 0, servo_min)
+    pwm.set_pwm(1, 0, servo_min)
+    pwm.set_pwm(2, 0, servo_min)
+    pwm.set_pwm(3, 0, servo_min)
+    pwm.set_pwm(4, 0, servo_min)
+    time.sleep(1)
+    pwm.set_pwm(0, 0, servo_max)
+    pwm.set_pwm(1, 0, servo_max)
+    pwm.set_pwm(2, 0, servo_max)
+    pwm.set_pwm(3, 0, servo_max)
+    pwm.set_pwm(4, 0, servo_max)
+    time.sleep(1)
+    

old_stuff/simpletest2.py

@@ -0,0 +1,53 @@
+# Simple demo of of the PCA9685 PWM servo/LED controller library.
+# This will move channel 0 from min to max position repeatedly.
+# Author: Tony DiCola
+# License: Public Domain
+from __future__ import division
+import time
+
+# Import the PCA9685 module.
+import Adafruit_PCA9685
+
+
+# Uncomment to enable debug output.
+#import logging
+#logging.basicConfig(level=logging.DEBUG)
+
+# Initialise the PCA9685 using the default address (0x40).
+pwm = Adafruit_PCA9685.PCA9685()
+
+# Alternatively specify a different address and/or bus:
+#pwm = Adafruit_PCA9685.PCA9685(address=0x41, busnum=2)
+
+# Configure min and max servo pulse lengths
+servo_min = 150  # Min pulse length out of 4096
+servo_max = 400  # Max pulse length out of 4096
+
+# Helper function to make setting a servo pulse width simpler.
+def set_servo_pulse(channel, pulse):
+    pulse_length = 1000000    # 1,000,000 us per second
+    pulse_length //= 60       # 60 Hz
+    print('{0}us per period'.format(pulse_length))
+    pulse_length //= 4096     # 12 bits of resolution
+    print('{0}us per bit'.format(pulse_length))
+    pulse *= 1000
+    pulse //= pulse_length
+    pwm.set_pwm(channel, 0, pulse)
+
+# Set frequency to 60hz, good for servos.
+pwm.set_pwm_freq(60)
+
+print('Moving servo on channel 4, press Ctrl-C to quit...')
+while True:
+   
+    for x in range(6):
+        pwm.set_pwm(x, 0,150)
+
+    print('200')
+    time.sleep(1)
+    for y in range(6):
+        pwm.set_pwm(y, 0, 400)
+
+    print('350')
+    time.sleep(1)
+    

old_stuff/simpletest3.py

@@ -0,0 +1,46 @@
+# Simple demo of of the PCA9685 PWM servo/LED controller library.
+# This will move channel 0 from min to max position repeatedly.
+# Author: Tony DiCola
+# License: Public Domain
+from __future__ import division
+import time
+
+# Import the PCA9685 module.
+import Adafruit_PCA9685
+
+
+# Uncomment to enable debug output.
+#import logging
+#logging.basicConfig(level=logging.DEBUG)
+
+# Initialise the PCA9685 using the default address (0x40).
+pwm = Adafruit_PCA9685.PCA9685()
+
+# Alternatively specify a different address and/or bus:
+#pwm = Adafruit_PCA9685.PCA9685(address=0x41, busnum=2)
+
+# Configure min and max servo pulse lengths
+servo_min = 150  # Min pulse length out of 4096
+servo_max = 600  # Max pulse length out of 4096
+
+# Helper function to make setting a servo pulse width simpler.
+def set_servo_pulse(channel, pulse):
+    pulse_length = 1000000    # 1,000,000 us per second
+    pulse_length //= 60       # 60 Hz
+    print('{0}us per period'.format(pulse_length))
+    pulse_length //= 4096     # 12 bits of resolution
+    print('{0}us per bit'.format(pulse_length))
+    pulse *= 1000
+    pulse //= pulse_length
+    pwm.set_pwm(channel, 0, pulse)
+
+# Set frequency to 60hz, good for servos.
+pwm.set_pwm_freq(60)
+
+print('Moving servo on channel 4, press Ctrl-C to quit...')
+while True:
+   
+    channel = int(input("Channel:\n"))
+    pos = int(input("Position: \n"))
+    num = int(input("num \n"))
+    pwm.set_pwm(channel, 0,pos)

old_stuff/testwalk.py

@@ -0,0 +1,49 @@
+# Simple demo of of the PCA9685 PWM servo/LED controller library.
+# This will move channel 0 from min to max position repeatedly.
+# Author: Tony DiCola
+# License: Public Domain
+from __future__ import division
+import time
+
+# Import the PCA9685 module.
+import Adafruit_PCA9685
+
+
+# Uncomment to enable debug output.
+#import logging
+#logging.basicConfig(level=logging.DEBUG)
+
+# Initialise the PCA9685 using the default address (0x40).
+pwm = Adafruit_PCA9685.PCA9685()
+
+# Alternatively specify a different address and/or bus:
+#pwm = Adafruit_PCA9685.PCA9685(address=0x41, busnum=2)
+
+# Configure min and max servo pulse lengths
+servo_min = 150  # Min pulse length out of 4096
+servo_max = 400  # Max pulse length out of 4096
+
+# Helper function to make setting a servo pulse width simpler.
+def set_servo_pulse(channel, pulse):
+    pulse_length = 1000000    # 1,000,000 us per second
+    pulse_length //= 60       # 60 Hz
+    print('{0}us per period'.format(pulse_length))
+    pulse_length //= 4096     # 12 bits of resolution
+    print('{0}us per bit'.format(pulse_length))
+    pulse *= 1000
+    pulse //= pulse_length
+    pwm.set_pwm(channel, 0, pulse)
+
+# Set frequency to 60hz, good for servos.
+pwm.set_pwm_freq(60)
+
+print('Moving servo on channel 0, press Ctrl-C to quit...')
+while True:
+    pwm.set_pwm(6,0,150)
+    for x in  range(150,400):
+        print  (x)
+        pwm.set_pwm(6, 0, x)
+        math = round(0.026*pow((x-275),2))
+        print (math)
+        pwm.set_pwm(0, 0, math)
+    

old_stuff/testwalk2.py

@@ -0,0 +1,20 @@
+
+# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
+# SPDX-License-Identifier: MIT
+
+"""Simple test for a standard servo on channel 0 and a continuous rotation servo on channel 1."""
+import time
+from adafruit_servokit import ServoKit
+
+# Set channels to the number of servo channels on your kit.
+# 8 for FeatherWing, 16 for Shield/HAT/Bonnet.
+kit = ServoKit(channels=16)
+kit.servo[12].set_pulse_width_range(1000, 2000)
+#kit.servo[12].angle = 180
+#time.sleep(1)
+kit.continuous_servo[12].throttle = 1
+time.sleep(3)
+kit.continuous_servo[12].throttle = -1
+time.sleep(3)
+kit.servo[0].angle = 0
+kit.continuous_servo[12].throttle = 0

old_stuff/testwalk3.py

@@ -0,0 +1,11 @@
+import time
+from adafruit_servokit import ServoKit
+
+kit = ServoKit(channels=16)
+kit.servo[12].set_pulse_width_range(1000, 2000)
+
+kit.servo[12].actuation_range = 200
+while True:
+    channel = int(input("Channel:\n"))
+    pos = int(input("Position: \n"))
+    kit.servo[channel].angle = pos

old_stuff/testwalk4.py

@@ -0,0 +1,14 @@
+import time
+from adafruit_servokit import ServoKit
+
+kit = ServoKit(channels=16)
+
+leg = int(input("leg"))
+
+kit.servo[leg].angle = 0
+kit.servo[leg+6].angle = 0
+time.sleep(1)
+kit.servo[leg].angle = 180
+kit.servo[leg+6].angle = 180
+time.sleep(1)
+kit.servo[leg].angle = 0

old_stuff/testwalk4.py.save

@@ -0,0 +1,7 @@
+import time
+from adafruit_servokit import ServoKit
+
+kit = ServoKit(channels=16)
+# smallest 0 biggest 110
+while True:
+    kit.servo[].angle = 

old_stuff/thr.py

@@ -0,0 +1,77 @@
+import threading
+import time
+from adafruit_servokit import ServoKit
+
+kit = ServoKit(channels=16)
+
+#leg = int(input("leg"))
+def left2():
+    kit.servo[2].angle = 0
+    kit.servo[8].angle = 0
+    time.sleep(1)
+    kit.servo[2].angle = 110
+    time.sleep(1)
+    kit.servo[8].angle = 110
+    time.sleep(1)
+    kit.servo[2].angle = 0
+def left1():
+    kit.servo[1].angle = 0
+    kit.servo[7].angle = 0
+    time.sleep(1)
+    kit.servo[1].angle = 110
+    time.sleep(1)
+    kit.servo[7].angle = 110
+    time.sleep(1)
+    kit.servo[1].angle = 0
+def left0():
+    kit.servo[0].angle = 0
+    kit.servo[6].angle = 0
+    time.sleep(1)
+    kit.servo[0].angle = 110
+    time.sleep(1)
+    kit.servo[6].angle = 110
+    time.sleep(1)
+    kit.servo[0].angle = 0
+def right5():
+    kit.servo[5].angle = 0
+    kit.servo[11].angle = 110
+    time.sleep(1)
+    kit.servo[5].angle = 110
+    time.sleep(1)
+    kit.servo[11].angle = 0
+    time.sleep(1)
+    kit.servo[5].angle = 0
+def right4():
+    kit.servo[4].angle = 0
+    kit.servo[10].angle = 110
+    time.sleep(1)
+    kit.servo[4].angle = 110
+    time.sleep(1)
+    kit.servo[10].angle = 0
+    time.sleep(1)
+    kit.servo[4].angle = 0
+def right3():
+    kit.servo[3].angle = 0
+    kit.servo[9].angle = 110
+    time.sleep(1)
+    kit.servo[3].angle = 110
+    time.sleep(1)
+    kit.servo[9].angle = 0
+    time.sleep(1)
+    kit.servo[leg].angle = 0
+
+
+leg0 = threading.Thread(target=left0, args=())
+leg1 = threading.Thread(target=left1, args=())
+leg2 = threading.Thread(target=left2, args=())
+leg3 = threading.Thread(target=right3, args=())
+leg4 = threading.Thread(target=right4, args=())
+leg5 = threading.Thread(target=right5, args=())
+leg0.start()
+leg2.start()
+leg4.start()
+time.sleep(3)
+leg1.start()
+leg3.start()
+leg5.start()
+

old_stuff/thr2.py

@@ -0,0 +1,90 @@
+import threading
+import time
+from adafruit_servokit import ServoKit
+
+kit = ServoKit(channels=16)
+
+#leg = int(input("leg"))
+def left2():
+    kit.servo[2].angle = 0
+    kit.servo[8].angle = 0
+    time.sleep(1)
+    kit.servo[2].angle = 110
+    time.sleep(1)
+    kit.servo[8].angle = 110
+    time.sleep(1)
+    kit.servo[2].angle = 0
+def left1():
+    kit.servo[1].angle = 0
+    kit.servo[7].angle = 0
+    time.sleep(1)
+    kit.servo[1].angle = 110
+    time.sleep(1)
+    kit.servo[7].angle = 110
+    time.sleep(1)
+    kit.servo[1].angle = 0
+def left0():
+    kit.servo[0].angle = 0
+    kit.servo[6].angle = 0
+    time.sleep(1)
+    kit.servo[0].angle = 110
+    time.sleep(1)
+    kit.servo[6].angle = 110
+    time.sleep(1)
+    kit.servo[0].angle = 0
+def right5():
+    kit.servo[5].angle = 0
+    kit.servo[11].angle = 110
+    time.sleep(1)
+    kit.servo[5].angle = 110
+    time.sleep(1)
+    kit.servo[11].angle = 0
+    time.sleep(1)
+    kit.servo[5].angle = 0
+def right4():
+    kit.servo[4].angle = 0
+    kit.servo[10].angle = 110
+    time.sleep(1)
+    kit.servo[4].angle = 110
+    time.sleep(1)
+    kit.servo[10].angle = 0
+    time.sleep(1)
+    kit.servo[4].angle = 0
+def right3():
+    kit.servo[3].angle = 0
+    kit.servo[9].angle = 110
+    time.sleep(1)
+    kit.servo[3].angle = 110
+    time.sleep(1)
+    kit.servo[9].angle = 0
+    time.sleep(1)
+    kit.servo[3].angle = 0
+
+
+#leg0 = threading.Thread(target=left0, args=())
+#leg1 = threading.Thread(target=left1, args=())
+#leg2 = threading.Thread(target=left2, args=())
+#leg3 = threading.Thread(target=right3, args=())
+#leg4 = threading.Thread(target=right4, args=())
+#leg5 = threading.Thread(target=right5, args=())
+while True:
+    leg0 = threading.Thread(target=left0, args=())
+    leg1 = threading.Thread(target=left1, args=())
+    leg2 = threading.Thread(target=left2, args=())
+    leg3 = threading.Thread(target=right3, args=())
+    leg4 = threading.Thread(target=right4, args=())
+    leg5 = threading.Thread(target=right5, args=())
+    leg0.start()
+    leg2.start()
+    leg4.start()
+    leg0.join()
+    leg2.join()
+    leg4.join()
+    time.sleep(1)
+    leg1.start()
+    leg3.start()
+    leg5.start()
+    leg1.join()
+    leg3.join()
+    leg5.join()
+

old_stuff/thr3.py

@@ -0,0 +1,88 @@
+import threading
+import time
+from adafruit_servokit import ServoKit
+
+# Initialize ServoKit
+kit = ServoKit(channels=16)
+
+# Constants for angles
+ANGLE_START = 0
+ANGLE_MIDDLE = 110
+ANGLE_NEUTRAL = 55
+
+# Constants for delay
+DELAY = 1
+
+# Movement functions
+def move_leg(servo1, servo2):
+    """Moves a pair of servos synchronously and prints their positions."""
+    kit.servo[servo1].angle = ANGLE_START
+    kit.servo[servo2].angle = ANGLE_START
+    print(f"Servos {servo1} and {servo2} set to ANGLE_START: {ANGLE_START}")
+    time.sleep(DELAY)
+
+    kit.servo[servo1].angle = ANGLE_MIDDLE
+    print(f"Servo {servo1} set to ANGLE_MIDDLE: {ANGLE_MIDDLE}")
+    time.sleep(DELAY)
+
+    kit.servo[servo2].angle = ANGLE_MIDDLE
+    print(f"Servo {servo2} set to ANGLE_MIDDLE: {ANGLE_MIDDLE}")
+    time.sleep(DELAY)
+
+    kit.servo[servo1].angle = ANGLE_NEUTRAL
+    print(f"Servo {servo1} set to ANGLE_NEUTRAL: {ANGLE_NEUTRAL}")
+
+    kit.servo[servo2].angle = ANGLE_NEUTRAL
+    print(f"Servo {servo2} set to ANGLE_NEUTRAL: {ANGLE_NEUTRAL}")
+
+def left_leg_0():
+    move_leg(0, 6)
+
+def left_leg_1():
+    move_leg(1, 7)
+
+def left_leg_2():
+    move_leg(2, 8)
+
+def right_leg_3():
+    move_leg(3, 9)
+
+def right_leg_4():
+    move_leg(4, 10)
+
+def right_leg_5():
+    move_leg(5, 11)
+
+# List of leg movements
+def group_1():
+    threads = [
+        threading.Thread(target=left_leg_0),
+        threading.Thread(target=left_leg_2),
+        threading.Thread(target=right_leg_4),
+    ]
+    for thread in threads:
+        thread.start()
+    for thread in threads:
+        thread.join()
+
+def group_2():
+    threads = [
+        threading.Thread(target=left_leg_1),
+        threading.Thread(target=right_leg_3),
+        threading.Thread(target=right_leg_5),
+    ]
+    for thread in threads:
+        thread.start()
+    for thread in threads:
+        thread.join()
+
+# Main loop
+if __name__ == "__main__":
+    while True:
+        print("Executing Group 1 movements...")
+        group_1()
+        time.sleep(DELAY)
+
+        print("Executing Group 2 movements...")
+        group_2()
+        time.sleep(DELAY)