Introduction¶
This convenience library makes coding for the Crickit robotics boards simpler and shorter.
Dependencies¶
This driver depends on:
Please ensure all dependencies are available on the CircuitPython filesystem. This is easily achieved by downloading the Adafruit library and driver bundle.
Usage Example¶
This examples shows how to control all the devices supported by the library. In most cases you just need a couple of imports.
# This is a mock example showing typical usage of the library for each kind of device.
from adafruit_crickit import crickit
# Add this import if using stepper motors.
# It will expose constants saying how to step: stepper.FORWARD, stepper.BACKWARD, etc.
from adafruit_motor import stepper
# Set servo 1 to 90 degrees
crickit.servo_1.angle = 90
# Change servo settings.
crickit.servo_1.actuation_range = 135
crickit.servo_1.set_pulse_width_range(min_pulse=850, max_pulse=2100)
# You can assign a device to a variable to get a shorter name.
servo_2 = crickit.servo_2
servo_2.throttle = 0
# Run a continous servo on Servo 2 backwards at half speed.
crickit.continuous_servo_2.throttle = -0.5
# Run the motor on Motor 1 terminals at half speed.
crickit.dc_motor_1.throttle = 0.5
# Set Drive 1 terminal to 3/4 strength.
crickit.drive_1.fraction = 0.75
if crickit.touch_1.value:
print("Touched terminal Touch 1")
# A single stepper motor uses up all the motor terminals.
crickit.stepper_motor.onestep(direction=stepper.FORWARD)
# You can also use the Drive terminals for a stepper motor
crickit.drive_stepper_motor.onestep(direction=stepper.BACKWARD)
# Note: On CPX Crickit, NeoPixel pin is normally connected to A1, not to seesaw,
# so this part of the demo cannot control the NeoPixel terminal.
# Strip or ring of 8 NeoPixels
crickit.init_neopixel(8)
crickit.neopixel.fill((100, 100, 100))
Contributing¶
Contributions are welcome! Please read our Code of Conduct before contributing to help this project stay welcoming.
Building locally¶
Zip release files¶
To build this library locally you’ll need to install the circuitpython-build-tools package.
python3 -m venv .env
source .env/bin/activate
pip install circuitpython-build-tools
Once installed, make sure you are in the virtual environment:
source .env/bin/activate
Then run the build:
circuitpython-build-bundles --filename_prefix adafruit-circuitpython-crickit --library_location .
Sphinx documentation¶
Sphinx is used to build the documentation based on rST files and comments in the code. First, install dependencies (feel free to reuse the virtual environment from above):
python3 -m venv .env
source .env/bin/activate
pip install Sphinx sphinx-rtd-theme
Now, once you have the virtual environment activated:
cd docs
sphinx-build -E -W -b html . _build/html
This will output the documentation to docs/_build/html
. Open the index.html in your browser to
view them. It will also (due to -W) error out on any warning like Travis will. This is a good way to
locally verify it will pass.
Table of Contents¶
Examples¶
The examples
directory contains simple examples for controlling a number of different
devices, such as servos and DC motors.
adafruit_crickit
¶
Convenience library for using the Adafruit Crickit robotics boards.
- Author(s): Dan Halbert
Implementation Notes¶
Hardware:
Software and Dependencies:
- Adafruit CircuitPython firmware for the supported boards: https://github.com/adafruit/circuitpython/releases
-
class
adafruit_crickit.
Crickit
(seesaw)¶ Represents a Crickit board. Provides a number of devices available via properties, such as
servo_1
. Devices are created on demand the first time they are referenced.It’s fine to refer a device multiple times via its property, but it’s faster and results in more compact code to assign a device to a variable.
import time from adafruit_crickit import crickit # This is fine: crickit.servo_1.angle = 0 time.sleep(1) crickit.servo_1.angle = 90 time.sleep(1) # This is slightly faster and more compact: servo_1 = crickit.servo_1 servo_1.angle = 0 time.sleep(1) servo_1.angle = 90 time.sleep(1)
-
SIGNAL1
= 2¶ Signal 1 terminal
-
SIGNAL2
= 3¶ Signal 2 terminal
-
SIGNAL3
= 40¶ Signal 3 terminal
-
SIGNAL4
= 41¶ Signal 4 terminal
-
SIGNAL5
= 11¶ Signal 5 terminal
-
SIGNAL6
= 10¶ Signal 6 terminal
-
SIGNAL7
= 9¶ Signal 7 terminal
-
SIGNAL8
= 8¶ Signal 8 terminal
-
continuous_servo_1
¶ adafruit_motor.servo.ContinuousServo
object on Servo 1 terminal
-
continuous_servo_2
¶ adafruit_motor.servo.ContinuousServo
object on Servo 2 terminal
-
continuous_servo_3
¶ adafruit_motor.servo.ContinuousServo
object on Servo 3 terminal
-
continuous_servo_4
¶ adafruit_motor.servo.ContinuousServo
object on Servo 4 terminal
-
dc_motor_1
¶ adafruit_motor.motor.DCMotor
object on Motor 1 terminals
-
dc_motor_2
¶ adafruit_motor.motor.DCMotor
object on Motor 2 terminals
-
drive_1
¶ adafruit_seesaw.pwmout.PWMOut
object on Drive 1 terminal, withfrequency=1000
-
drive_2
¶ adafruit_seesaw.pwmout.PWMOut
object on Drive 2 terminal, withfrequency=1000
-
drive_3
¶ adafruit_seesaw.pwmout.PWMOut
object on Drive 3 terminal, withfrequency=1000
-
drive_4
¶ adafruit_seesaw.pwmout.PWMOut
object on Drive 4 terminal, withfrequency=1000
-
drive_stepper_motor
¶ adafruit_motor.motor.StepperMotor
object on Drive terminals
-
feather_drive_1
¶ adafruit_seesaw.pwmout.PWMOut
object on Crickit Featherwing Drive 1 terminal, withfrequency=1000
-
feather_drive_2
¶ adafruit_seesaw.pwmout.PWMOut
object on Crickit Featherwing Drive 2 terminal, withfrequency=1000
-
feather_drive_3
¶ adafruit_seesaw.pwmout.PWMOut
object on Crickit Featherwing Drive 3 terminal, withfrequency=1000
-
feather_drive_4
¶ adafruit_seesaw.pwmout.PWMOut
object on Crickit Featherwing Drive 4 terminal, withfrequency=1000
-
feather_drive_stepper_motor
¶ adafruit_motor.motor.StepperMotor
object on Drive terminals on Crickit FeatherWing
-
init_neopixel
(n, *, bpp=3, brightness=1.0, auto_write=True, pixel_order=None)¶ Set up a seesaw.NeoPixel object
Note
On the CPX Crickit board, the NeoPixel terminal is by default controlled by CPX pin A1, and is not controlled by seesaw. So this object will not be usable. Instead, use the regular NeoPixel library and specify
board.A1
as the pin.You can change the jumper connection on the bottom of the CPX Crickit board to move control of the NeoPixel terminal to seesaw pin #20 (terminal.NEOPIXEL). In addition, the Crickit FeatherWing always uses seesaw pin #20. In either of those cases, this object will work.
from adafruit_crickit.crickit import crickit crickit.init_neopixel(24) crickit.neopixel.fill((100, 0, 0))
-
neopixel
¶ `adafruit_seesaw.neopixel
object on NeoPixel terminal. Raises ValueError ifinit_neopixel
has not been called.
-
reset
()¶ Reset the whole Crickit board.
-
seesaw
¶ The Seesaw object that talks to the Crickit. Use this object to manipulate the signal pins that correspond to Crickit terminals.
from adafruit_crickit import crickit ss = crickit.seesaw ss.pin_mode(crickit.SIGNAL4, ss.OUTPUT) ss.digital_write(crickit.SIGNAL4], True)
-
servo_1
¶ adafruit_motor.servo.Servo
object on Servo 1 terminal
-
servo_2
¶ adafruit_motor.servo.Servo
object on Servo 2 terminal
-
servo_3
¶ adafruit_motor.servo.Servo
object on Servo 3 terminal
-
servo_4
¶ adafruit_motor.servo.Servo
object on Servo 4 terminal
-
stepper_motor
¶ adafruit_motor.motor.StepperMotor
object on Motor 1 and Motor 2 terminals
-
touch_1
¶ adafruit_crickit.CrickitTouchIn
object on Touch 1 terminal
-
touch_2
¶ adafruit_crickit.CrickitTouchIn
object on Touch 2 terminal
-
touch_3
¶ adafruit_crickit.CrickitTouchIn
object on Touch 3 terminal
-
touch_4
¶ adafruit_crickit.CrickitTouchIn
object on Touch 4 terminal
-
-
class
adafruit_crickit.
CrickitTouchIn
(seesaw, pin)¶ Imitate touchio.TouchIn.
-
value
¶ Whether the touch pad is being touched or not. (read-only)
-
-
adafruit_crickit.
crickit
= None¶ A singleton instance to control a single Crickit board, controlled by the default I2C pins.
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