Adabot Toy Robot Friend

Mini Oval Speaker - 8 Ohm 1 Watt

Mini Oval Speaker with pico blade connector

Hear the good news! This wee speaker is a great addition to any audio project where you need 8 ohm impedance and 1W or less of power. We particularly like...

$1.95

In Stock

NeoPixel Stick - 8 x 5050 RGB LED with Integrated Drivers

Make your own little LED strip arrangement with this stick of NeoPixel LEDs. We crammed 8 of the tiny 5050 (5mm x 5mm) smart RGB LEDs onto a PCB with mounting holes and a chainable...

guides with product

$5.95

In Stock

Micro servo

Tiny little servo can rotate approximately 180 degrees (90 in each direction) and works just like the standard kinds you're used to but smaller. You can use any servo...

$5.95

In Stock

16mm Panel Mount Momentary Pushbutton - Yellow

Angled shot of 16mm yellow panel mount pushbutton.

OK, this item is pretty simple - it's a panel mount pushbutton. It's not that exciting, no LEDs, no bells & whistles. But we really like it anyways – look at that...

Out of Stock

Lithium Ion Polymer Battery - 3.7v 500mAh

Lithium-ion polymer (also known as 'lipo' or 'lipoly') batteries are thin, light, and powerful. The output ranges from 4.2V when completely charged to 3.7V. This...

$7.95

In Stock

1 x Slide Switch

Breadboard-friendly SPDT Slide Switch

1 x Silicone Ribbon Cable

Silicone Cover Stranded-Core Ribbon Cable - 10 Wire 1 Meter Long - 28AWG Black

1 x 2-pin Cable Molex Connector

40cm long - Molex PicoBlade Compatible

1 x M2.5 Nylon Hardware Kit

Black Nylon Machine Screw and Stand-off Set – M2.5 Thread

1 x Colored Heat Shrink

Pack - 3/32" + 1/8" + 3/16" Diameters

Download the latest version of CircuitPython for this board via circuitpython.org

Additional Parts

4 x Neodymium Magnets

D42 1/4" dia. x 1/8" thick

Buy Now

1 x M2 Hardware Kit

320PCS M2 Male Female Nylon Hex Spacer Standoff Screw Nut Assorted Assortment Kit

Buy Now

2 x M2.5 Steel Screws

M2.5 x 5mm long button head screws

Buy Now

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CAD Files

3D Printed Parts

STL files for 3D printing are oriented to print "as-is" on FDM style machines. Parts are designed to 3D print without any support material using PLA filament. Original design source may be downloaded using the links below.

Download STLs.zip

Download CAD source

Part Copies

The following parts require multiple copies.

2x Antenna
2x Arm Half A
2x Arm Half B
2x Arm Joint
2x Claw
2x Ear Cap
2x Foot
2x Leg Joint
2x Leg
2x Pupil

Build Volume

The parts require a 3D printer with a minimum build volume.

74mm (X) x 66mm (Y) x 48mm (Z)

Color Filament

For best illumination, we suggest printing the mouth piece in a while PLA filament.

Design Source Files

The project assembly was designed in Fusion 360. This can be downloaded in different formats like STEP, STL and more. Electronic components like Adafruit's boards, displays, connectors and more can be downloaded from the Adafruit CAD parts GitHub Repo.

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Circuit Diagram

The diagram below provides a general visual reference for wiring of the components once you get to the Assembly page. This diagram was created using the software package Fritzing.

Adafruit Library for Fritzing

Adafruit uses the Adafruit's Fritzing parts library to create circuit diagrams for projects. You can download the library or just grab individual parts. Get the library and parts from GitHub - Adafruit Fritzing Parts.

Wired Connections

The NeoPixel stick, button, and speaker are each connected to pins on the screw block terminal.
The slide switch is connected to the EN and GND pins on the Feather.
The micro servo connects to the servo header pins on the Feather.
A 500mAh battery is connected to the battery port on the Feather.

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CircuitPython

CircuitPython is a derivative of MicroPython designed to simplify experimentation and education on low-cost microcontrollers. It makes it easier than ever to get prototyping by requiring no upfront desktop software downloads. Simply copy and edit files on the CIRCUITPY drive to iterate.

CircuitPython Quickstart

Follow this step-by-step to quickly get CircuitPython running on your board.

install_circuitpython_on_rp2040_RP2040_UF2_downloaded.jpg

Click the link above to download the latest CircuitPython UF2 file.

Save it wherever is convenient for you.

To enter the bootloader, hold down the BOOT/BOOTSEL button (highlighted in red above), and while continuing to hold it (don't let go!), press and release the reset button (highlighted in red or blue above). Continue to hold the BOOT/BOOTSEL button until the RPI-RP2 drive appears!

If the drive does not appear, release all the buttons, and then repeat the process above.

You can also start with your board unplugged from USB, press and hold the BOOTSEL button (highlighted in red above), continue to hold it while plugging it into USB, and wait for the drive to appear before releasing the button.

A lot of people end up using charge-only USB cables and it is very frustrating! Make sure you have a USB cable you know is good for data sync.

install_circuitpython_on_rp2040_RP2040_bootloader_drive.jpg

You will see a new disk drive appear called RPI-RP2.

Drag the adafruit_circuitpython_etc.uf2 file to RPI-RP2.

The RPI-RP2 drive will disappear and a new disk drive called CIRCUITPY will appear.

That's it, you're done! :)

Safe Mode

You want to edit your code.py or modify the files on your CIRCUITPY drive, but find that you can't. Perhaps your board has gotten into a state where CIRCUITPY is read-only. You may have turned off the CIRCUITPY drive altogether. Whatever the reason, safe mode can help.

Safe mode in CircuitPython does not run any user code on startup, and disables auto-reload. This means a few things. First, safe mode bypasses any code in boot.py (where you can set CIRCUITPY read-only or turn it off completely). Second, it does not run the code in code.py. And finally, it does not automatically soft-reload when data is written to the CIRCUITPY drive.

Therefore, whatever you may have done to put your board in a non-interactive state, safe mode gives you the opportunity to correct it without losing all of the data on the CIRCUITPY drive.

Entering Safe Mode

To enter safe mode when using CircuitPython, plug in your board or hit reset (highlighted in red above). Immediately after the board starts up or resets, it waits 1000ms. On some boards, the onboard status LED (highlighted in green above) will blink yellow during that time. If you press reset during that 1000ms, the board will start up in safe mode. It can be difficult to react to the yellow LED, so you may want to think of it simply as a slow double click of the reset button. (Remember, a fast double click of reset enters the bootloader.)

In Safe Mode

If you successfully enter safe mode on CircuitPython, the LED will intermittently blink yellow three times.

If you connect to the serial console, you'll find the following message.

Copy Text

Auto-reload is off.
Running in safe mode! Not running saved code.

CircuitPython is in safe mode because you pressed the reset button during boot. Press again to exit safe mode.

Press any key to enter the REPL. Use CTRL-D to reload.

Auto-reload is off.
Running in safe mode! Not running saved code.

CircuitPython is in safe mode because you pressed the reset button during boot. Press again to exit safe mode.

Press any key to enter the REPL. Use CTRL-D to reload.

You can now edit the contents of the CIRCUITPY drive. Remember, your code will not run until you press the reset button, or unplug and plug in your board, to get out of safe mode.

Flash Resetting UF2

If your board ever gets into a really weird state and CIRCUITPY doesn't show up as a disk drive after installing CircuitPython, try loading this 'nuke' UF2 to RPI-RP2. which will do a 'deep clean' on your Flash Memory. You will lose all the files on the board, but at least you'll be able to revive it! After loading this UF2, follow the steps above to re-install CircuitPython.

Download flash erasing "nuke" UF2

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Coding Adabot

Once you've finished setting up your RP2040 Prop-Maker Feather with CircuitPython, you can access the code and necessary libraries by downloading the Project Bundle.

To do this, click on the Download Project Bundle button in the window below. It will download to your computer as a zipped folder.

Download Project Bundle

# SPDX-FileCopyrightText: 2023 Liz Clark for Adafruit Industries
#
# SPDX-License-Identifier: MIT

import os
import random
import board
import audiocore
import audiobusio
import audiomixer
import pwmio
import neopixel
import adafruit_lis3dh
from adafruit_ticks import ticks_ms, ticks_add, ticks_diff
from digitalio import DigitalInOut, Direction, Pull
from adafruit_motor import servo
from adafruit_led_animation.animation.comet import Comet
from adafruit_led_animation.animation.pulse import Pulse
from adafruit_led_animation.animation.sparkle import Sparkle
from adafruit_led_animation.color import RED, BLUE, BLACK

# enable external power pin
# provides power to the external components
external_power = DigitalInOut(board.EXTERNAL_POWER)
external_power.direction = Direction.OUTPUT
external_power.value = True

i2c = board.I2C()
int1 = DigitalInOut(board.ACCELEROMETER_INTERRUPT)
lis3dh = adafruit_lis3dh.LIS3DH_I2C(i2c, int1=int1)
lis3dh.range = adafruit_lis3dh.RANGE_2_G

switch = DigitalInOut(board.EXTERNAL_BUTTON)
switch.direction = Direction.INPUT
switch.pull = Pull.UP
switch_state = False

wavs = []
for filename in os.listdir('/WAVs'):
    if filename.lower().endswith('.wav') and not filename.startswith('.'):
        wavs.append("/WAVs/"+filename)

audio = audiobusio.I2SOut(board.I2S_BIT_CLOCK, board.I2S_WORD_SELECT, board.I2S_DATA)
mixer = audiomixer.Mixer(voice_count=1, sample_rate=22050, channel_count=1,
                         bits_per_sample=16, samples_signed=True, buffer_size=32768)

mixer.voice[0].level = 1
track_number = 0
wav_filename = wavs[track_number]
wav_file = open(wav_filename, "rb")
wave = audiocore.WaveFile(wav_file)
audio.play(mixer)
mixer.voice[0].play(wave)

def open_audio(num):
    n = wavs[num]
    f = open(n, "rb")
    w = audiocore.WaveFile(f)
    return w

PIXEL_PIN = board.EXTERNAL_NEOPIXELS
SERVO_PIN = board.EXTERNAL_SERVO
NUM_PIXELS = 8
ORDER = neopixel.GRB
BRIGHTNESS = 0.3

PWM = pwmio.PWMOut(SERVO_PIN, duty_cycle=2 ** 15, frequency=50)
SERVO = servo.Servo(PWM)

pixel = neopixel.NeoPixel(board.NEOPIXEL, 1)
pixel.brightness = 1

PIXELS = neopixel.NeoPixel(PIXEL_PIN, NUM_PIXELS, auto_write=False,
                           pixel_order=ORDER)
LARSON = Comet(PIXELS, bounce=True, speed=0.07,
               tail_length=NUM_PIXELS//2,
               color=(BLUE[0] * BRIGHTNESS,
                      BLUE[1] * BRIGHTNESS,
                      BLUE[2] * BRIGHTNESS))
pulse = Pulse(PIXELS, speed=0.05,
                color=(BLUE[0] * BRIGHTNESS,
                       BLUE[1] * BRIGHTNESS,
                       BLUE[2] * BRIGHTNESS), period=3)
sparkle = Sparkle(PIXELS, speed=0.2,
                color=(RED[0] * BRIGHTNESS,
                       RED[1] * BRIGHTNESS,
                       RED[2] * BRIGHTNESS), num_sparkles=10)

SERVO.angle = POSITION = NEXT_POSITION = 90
MOVING = False
START_TIME = ticks_ms()
DURATION = 1000

adabot_talk = False

clock = ticks_ms()
prop_time = 1000
adabot_nap = False

mixer.voice[0].play(wave)
while mixer.playing:
    LARSON.animate()

while True:
    if ticks_diff(ticks_ms(), clock) >= prop_time:
        x, y, z = [
        value / adafruit_lis3dh.STANDARD_GRAVITY for value in lis3dh.acceleration
        ]
        if z > 0.9:
            adabot_nap = True
            SERVO.angle = POSITION = NEXT_POSITION = 90
        else:
            adabot_nap = False
        if not adabot_nap:
            MOVING = not MOVING
            if MOVING:
                POSITION = NEXT_POSITION
                while abs(POSITION - NEXT_POSITION) < 10:
                    NEXT_POSITION = random.uniform(0, 180)
                DURATION = 0.2 + 0.6 * abs(POSITION - NEXT_POSITION) / 180
            else:
                SERVO.angle = NEXT_POSITION
                DURATION = random.uniform(0.5, 2.5)
        clock = ticks_add(clock, prop_time)
    if MOVING:
        FRACTION = 0.0 / DURATION
        FRACTION = (3 * FRACTION ** 2) - (2 * FRACTION ** 3)
        SERVO.angle = POSITION + (NEXT_POSITION - POSITION) * FRACTION
    if adabot_talk:
        wave = open_audio(random.randint(1, 17))
        mixer.voice[0].play(wave)
        while mixer.playing:
            sparkle.animate()
        if not mixer.playing:
            adabot_talk = False
            PIXELS.fill(BLACK)
            PIXELS.show()
    elif adabot_nap:
        pulse.animate()
    else:
        LARSON.animate()

    if not switch.value and switch_state is False:
        PIXELS.fill(BLACK)
        PIXELS.show()
        adabot_talk = True
        switch_state = True
    if switch.value and switch_state is True:
        switch_state = False

# SPDX-FileCopyrightText: 2023 Liz Clark for Adafruit Industries
#
# SPDX-License-Identifier: MIT

import os
import random
import board
import audiocore
import audiobusio
import audiomixer
import pwmio
import neopixel
import adafruit_lis3dh
from adafruit_ticks import ticks_ms, ticks_add, ticks_diff
from digitalio import DigitalInOut, Direction, Pull
from adafruit_motor import servo
from adafruit_led_animation.animation.comet import Comet
from adafruit_led_animation.animation.pulse import Pulse
from adafruit_led_animation.animation.sparkle import Sparkle
from adafruit_led_animation.color import RED, BLUE, BLACK

# enable external power pin
# provides power to the external components
external_power = DigitalInOut(board.EXTERNAL_POWER)
external_power.direction = Direction.OUTPUT
external_power.value = True

i2c = board.I2C()
int1 = DigitalInOut(board.ACCELEROMETER_INTERRUPT)
lis3dh = adafruit_lis3dh.LIS3DH_I2C(i2c, int1=int1)
lis3dh.range = adafruit_lis3dh.RANGE_2_G

switch = DigitalInOut(board.EXTERNAL_BUTTON)
switch.direction = Direction.INPUT
switch.pull = Pull.UP
switch_state = False

wavs = []
for filename in os.listdir('/WAVs'):
    if filename.lower().endswith('.wav') and not filename.startswith('.'):
        wavs.append("/WAVs/"+filename)

audio = audiobusio.I2SOut(board.I2S_BIT_CLOCK, board.I2S_WORD_SELECT, board.I2S_DATA)
mixer = audiomixer.Mixer(voice_count=1, sample_rate=22050, channel_count=1,
                         bits_per_sample=16, samples_signed=True, buffer_size=32768)

mixer.voice[0].level = 1
track_number = 0
wav_filename = wavs[track_number]
wav_file = open(wav_filename, "rb")
wave = audiocore.WaveFile(wav_file)
audio.play(mixer)
mixer.voice[0].play(wave)

def open_audio(num):
    n = wavs[num]
    f = open(n, "rb")
    w = audiocore.WaveFile(f)
    return w

PIXEL_PIN = board.EXTERNAL_NEOPIXELS
SERVO_PIN = board.EXTERNAL_SERVO
NUM_PIXELS = 8
ORDER = neopixel.GRB
BRIGHTNESS = 0.3

PWM = pwmio.PWMOut(SERVO_PIN, duty_cycle=2 ** 15, frequency=50)
SERVO = servo.Servo(PWM)

pixel = neopixel.NeoPixel(board.NEOPIXEL, 1)
pixel.brightness = 1

PIXELS = neopixel.NeoPixel(PIXEL_PIN, NUM_PIXELS, auto_write=False,
                           pixel_order=ORDER)
LARSON = Comet(PIXELS, bounce=True, speed=0.07,
               tail_length=NUM_PIXELS//2,
               color=(BLUE[0] * BRIGHTNESS,
                      BLUE[1] * BRIGHTNESS,
                      BLUE[2] * BRIGHTNESS))
pulse = Pulse(PIXELS, speed=0.05,
                color=(BLUE[0] * BRIGHTNESS,
                       BLUE[1] * BRIGHTNESS,
                       BLUE[2] * BRIGHTNESS), period=3)
sparkle = Sparkle(PIXELS, speed=0.2,
                color=(RED[0] * BRIGHTNESS,
                       RED[1] * BRIGHTNESS,
                       RED[2] * BRIGHTNESS), num_sparkles=10)

SERVO.angle = POSITION = NEXT_POSITION = 90
MOVING = False
START_TIME = ticks_ms()
DURATION = 1000

adabot_talk = False

clock = ticks_ms()
prop_time = 1000
adabot_nap = False

mixer.voice[0].play(wave)
while mixer.playing:
    LARSON.animate()

while True:
    if ticks_diff(ticks_ms(), clock) >= prop_time:
        x, y, z = [
        value / adafruit_lis3dh.STANDARD_GRAVITY for value in lis3dh.acceleration
        ]
        if z > 0.9:
            adabot_nap = True
            SERVO.angle = POSITION = NEXT_POSITION = 90
        else:
            adabot_nap = False
        if not adabot_nap:
            MOVING = not MOVING
            if MOVING:
                POSITION = NEXT_POSITION
                while abs(POSITION - NEXT_POSITION) < 10:
                    NEXT_POSITION = random.uniform(0, 180)
                DURATION = 0.2 + 0.6 * abs(POSITION - NEXT_POSITION) / 180
            else:
                SERVO.angle = NEXT_POSITION
                DURATION = random.uniform(0.5, 2.5)
        clock = ticks_add(clock, prop_time)
    if MOVING:
        FRACTION = 0.0 / DURATION
        FRACTION = (3 * FRACTION ** 2) - (2 * FRACTION ** 3)
        SERVO.angle = POSITION + (NEXT_POSITION - POSITION) * FRACTION
    if adabot_talk:
        wave = open_audio(random.randint(1, 17))
        mixer.voice[0].play(wave)
        while mixer.playing:
            sparkle.animate()
        if not mixer.playing:
            adabot_talk = False
            PIXELS.fill(BLACK)
            PIXELS.show()
    elif adabot_nap:
        pulse.animate()
    else:
        LARSON.animate()

    if not switch.value and switch_state is False:
        PIXELS.fill(BLACK)
        PIXELS.show()
        adabot_talk = True
        switch_state = True
    if switch.value and switch_state is True:
        switch_state = False

Upload the Code and Libraries to the RP2040 Prop-Maker Feather

After downloading the Project Bundle, plug your RP2040 Prop-Maker Feather into the computer's USB port with a known good USB data+power cable. You should see a new flash drive appear in the computer's File Explorer or Finder (depending on your operating system) called CIRCUITPY. Unzip the folder and copy the following items to the RP2040 Prop-Maker Feather's CIRCUITPY drive.

lib folder
WAVs folder
code.py

Your RP2040 Prop-Maker Feather CIRCUITPY drive should look like this after copying the lib folder, WAVs folder and the code.py file.

How the CircuitPython Code Works

The code begins by enabling the EXTERNAL_POWER pin on the Feather. This pin enables power to all of the external components. Next, the onboard LIS3DH accelerometer is instantiated over I2C and the EXTERNAL_BUTTON pin is setup as an input.

# enable external power pin
# provides power to the external components
external_power = DigitalInOut(board.EXTERNAL_POWER)
external_power.direction = Direction.OUTPUT
external_power.value = True

i2c = board.I2C()
int1 = DigitalInOut(board.ACCELEROMETER_INTERRUPT)
lis3dh = adafruit_lis3dh.LIS3DH_I2C(i2c, int1=int1)
lis3dh.range = adafruit_lis3dh.RANGE_2_G

switch = DigitalInOut(board.EXTERNAL_BUTTON)
switch.direction = Direction.INPUT
switch.pull = Pull.UP
switch_state = False

# enable external power pin
# provides power to the external components
external_power = DigitalInOut(board.EXTERNAL_POWER)
external_power.direction = Direction.OUTPUT
external_power.value = True

i2c = board.I2C()
int1 = DigitalInOut(board.ACCELEROMETER_INTERRUPT)
lis3dh = adafruit_lis3dh.LIS3DH_I2C(i2c, int1=int1)
lis3dh.range = adafruit_lis3dh.RANGE_2_G

switch = DigitalInOut(board.EXTERNAL_BUTTON)
switch.direction = Direction.INPUT
switch.pull = Pull.UP
switch_state = False

Audio!

Next is getting the audio ready. All of the audio files are in a folder called WAVs. These file names are added to the wavs array. The onboard I2S amp is being used for audio playback along with a Mixer. The Mixer lets you control playback and volume level in software.

Note: to make your own compatible wav files, check out this guide.

The open_audio() function is used in the main loop to play a random audio file from the WAVs folder. You'll pass a track number to the function, which will return an opened WaveFile to play through the Mixer.

wavs = []
for filename in os.listdir('/WAVs'):
    if filename.lower().endswith('.wav') and not filename.startswith('.'):
        wavs.append("/WAVs/"+filename)

audio = audiobusio.I2SOut(board.I2S_BIT_CLOCK, board.I2S_WORD_SELECT, board.I2S_DATA)
mixer = audiomixer.Mixer(voice_count=1, sample_rate=22050, channel_count=1,
                         bits_per_sample=16, samples_signed=True, buffer_size=32768)

mixer.voice[0].level = 1
track_number = 0
wav_filename = wavs[track_number]
wav_file = open(wav_filename, "rb")
wave = audiocore.WaveFile(wav_file)
audio.play(mixer)
mixer.voice[0].play(wave)

def open_audio(num):
    n = wavs[num]
    f = open(n, "rb")
    w = audiocore.WaveFile(f)
    return w

wavs = []
for filename in os.listdir('/WAVs'):
    if filename.lower().endswith('.wav') and not filename.startswith('.'):
        wavs.append("/WAVs/"+filename)

audio = audiobusio.I2SOut(board.I2S_BIT_CLOCK, board.I2S_WORD_SELECT, board.I2S_DATA)
mixer = audiomixer.Mixer(voice_count=1, sample_rate=22050, channel_count=1,
                         bits_per_sample=16, samples_signed=True, buffer_size=32768)

mixer.voice[0].level = 1
track_number = 0
wav_filename = wavs[track_number]
wav_file = open(wav_filename, "rb")
wave = audiocore.WaveFile(wav_file)
audio.play(mixer)
mixer.voice[0].play(wave)

def open_audio(num):
    n = wavs[num]
    f = open(n, "rb")
    w = audiocore.WaveFile(f)
    return w

Lights!

The NeoPixel stick is attached to the EXTERNAL_NEOPIXELS terminal block pin. The NeoPixels are using the LED Animations library to show fancy effects. LARSON is a modified Comet animation to mimic a Larson scanner effect and Pulse shows a calming blink that fades in and out.

PIXEL_PIN = board.EXTERNAL_NEOPIXELS
NUM_PIXELS = 8
ORDER = neopixel.GRB
BRIGHTNESS = 0.6

PIXELS = neopixel.NeoPixel(PIXEL_PIN, NUM_PIXELS, auto_write=False,
                           pixel_order=ORDER)
LARSON = Comet(PIXELS, bounce=True, speed=0.6/NUM_PIXELS,
               tail_length=NUM_PIXELS//2,
               color=(RED[0] * BRIGHTNESS,
                      RED[1] * BRIGHTNESS,
                      RED[2] * BRIGHTNESS))
pulse = Pulse(PIXELS, speed=0.1, color=BLUE, period=3)

PIXEL_PIN = board.EXTERNAL_NEOPIXELS
NUM_PIXELS = 8
ORDER = neopixel.GRB
BRIGHTNESS = 0.6

PIXELS = neopixel.NeoPixel(PIXEL_PIN, NUM_PIXELS, auto_write=False,
                           pixel_order=ORDER)
LARSON = Comet(PIXELS, bounce=True, speed=0.6/NUM_PIXELS,
               tail_length=NUM_PIXELS//2,
               color=(RED[0] * BRIGHTNESS,
                      RED[1] * BRIGHTNESS,
                      RED[2] * BRIGHTNESS))
pulse = Pulse(PIXELS, speed=0.1, color=BLUE, period=3)

Movement!

A servo motor is plugged into the EXTERNAL_SERVO header. It uses PWM to move.

SERVO_PIN = board.EXTERNAL_SERVO
PWM = pwmio.PWMOut(SERVO_PIN, duty_cycle=2 ** 15, frequency=50)
SERVO = servo.Servo(PWM)

SERVO_PIN = board.EXTERNAL_SERVO
PWM = pwmio.PWMOut(SERVO_PIN, duty_cycle=2 ** 15, frequency=50)
SERVO = servo.Servo(PWM)

Variables and Time

The adafruit_ticks library is used for non-blocking time tracking in the loop. A few Boolean states are used to track various modes in the loop.

SERVO.angle = POSITION = NEXT_POSITION = 90
MOVING = False
START_TIME = ticks_ms()
DURATION = 1000

adabot_talk = False

clock = ticks_ms()
prop_time = 1000
adabot_nap = False

SERVO.angle = POSITION = NEXT_POSITION = 90
MOVING = False
START_TIME = ticks_ms()
DURATION = 1000

adabot_talk = False

clock = ticks_ms()
prop_time = 1000
adabot_nap = False

Adabot Speaks

Right before the loop, Adabot says hello. While the Mixer is playing audio, the NeoPixel mouth shows the LARSON animation in RED.

mixer.voice[0].play(wave)
while mixer.playing:
    LARSON.animate()

mixer.voice[0].play(wave)
while mixer.playing:
    LARSON.animate()

The Loop

Every second, the LIS3DH is read. If the Z axis registers that Adabot is lying down, then the adabot_nap state is set to True. When Adabot is napping, the NeoPixels display the LARSON animation in BLUE and the servo stops moving.

if ticks_diff(ticks_ms(), clock) >= prop_time:
        x, y, z = [
        value / adafruit_lis3dh.STANDARD_GRAVITY for value in lis3dh.acceleration
        ]
        if z > 0.9:
            adabot_nap = True
            SERVO.angle = POSITION = NEXT_POSITION = 90
            LARSON.color=(BLUE[0] * BRIGHTNESS,
                          BLUE[1] * BRIGHTNESS,
                          BLUE[2] * BRIGHTNESS)

if ticks_diff(ticks_ms(), clock) >= prop_time:
        x, y, z = [
        value / adafruit_lis3dh.STANDARD_GRAVITY for value in lis3dh.acceleration
        ]
        if z > 0.9:
            adabot_nap = True
            SERVO.angle = POSITION = NEXT_POSITION = 90
            LARSON.color=(BLUE[0] * BRIGHTNESS,
                          BLUE[1] * BRIGHTNESS,
                          BLUE[2] * BRIGHTNESS)

If Adabot is not napping, then the servo alternates between moving and not moving, essentially moving every two seconds. The movement is random and tracks its previous position.

if not adabot_nap:
            MOVING = not MOVING
            if MOVING:
                POSITION = NEXT_POSITION
                while abs(POSITION - NEXT_POSITION) < 10:
                    NEXT_POSITION = random.uniform(0, 180)
                DURATION = 0.2 + 0.6 * abs(POSITION - NEXT_POSITION) / 180
            else:
                SERVO.angle = NEXT_POSITION
                DURATION = random.uniform(0.5, 2.5)
        clock = ticks_add(clock, prop_time)
    if MOVING:
        FRACTION = 0.0 / DURATION
        FRACTION = (3 * FRACTION ** 2) - (2 * FRACTION ** 3)
        SERVO.angle = POSITION + (NEXT_POSITION - POSITION) * FRACTION

if not adabot_nap:
            MOVING = not MOVING
            if MOVING:
                POSITION = NEXT_POSITION
                while abs(POSITION - NEXT_POSITION) < 10:
                    NEXT_POSITION = random.uniform(0, 180)
                DURATION = 0.2 + 0.6 * abs(POSITION - NEXT_POSITION) / 180
            else:
                SERVO.angle = NEXT_POSITION
                DURATION = random.uniform(0.5, 2.5)
        clock = ticks_add(clock, prop_time)
    if MOVING:
        FRACTION = 0.0 / DURATION
        FRACTION = (3 * FRACTION ** 2) - (2 * FRACTION ** 3)
        SERVO.angle = POSITION + (NEXT_POSITION - POSITION) * FRACTION

Chat with Adabot

When you press the button, Adabot will speak. adabot_talk is set to True and the open_audio function is used to load up one of the Adabot phrases from the WAVs folder. While the Mixer is playing the audio, the NeoPixels show the LARSON animation in RED. After the audio finishes, adabot_talk is set to False and the pulse animation begins again.