# Dune Worm Thumper
## Overview
https://youtu.be/3nM4hE7weXs
## Summon Sand Worms
You can build a Worm Thumper from the movie _Dune_ !
This project features a motion activated servo powered by CircuitPython and the Prop-Maker Feather RP2040.
## PropMaker RP2040
This dev-board is our favorite go-to that’s designed for making prop projects. It’s got the RP2040 chip with a built-in audio amplifier and accelerometer!
A 2000mAh lipo battery will provide several hours of energy and can be recharged over USB.
## CircuitPython
CircuitPython has made our Prop-Maker projects easier than ever thanks to our new demo code and libraries.
Dev-boards with CircuitPython are great for props because they load just like a USB flash drive so you can easily edit code and drag and drop audio files.
## Motion Activated
When the accelerometer detects a drop, it triggers the servo to spin and actuate the center rod to push the top of the Thumper up and down. The Transducer plays a thump sound, adding to the thumping effect!
## Parts
### Adafruit RP2040 Prop-Maker Feather with I2S Audio Amplifier
[Adafruit RP2040 Prop-Maker Feather with I2S Audio Amplifier](https://www.adafruit.com/product/5768)
The Adafruit Feather series gives you lots of options for a small, portable, rechargeable microcontroller board. By picking a feather and stacking on a FeatherWing you can create advanced projects quickly. One popular combo is our [Feather M4](https://www.adafruit.com/product/3857)...
Out of Stock
[Buy Now](https://www.adafruit.com/product/5768)
[Related Guides to the Product](https://learn.adafruit.com/products/5768/guides)
### Continuous Rotation Micro Servo
[Continuous Rotation Micro Servo](https://www.adafruit.com/product/2442)
Need to make a _tiny_ robot? This little micro servo rotates 360 degrees fully forward or backward, instead of moving to a single position. You can use any servo code, hardware, or library to control these servos. Good for making simple moving robots. Comes with five horns and...
Out of Stock
[Buy Now](https://www.adafruit.com/product/2442)
[Related Guides to the Product](https://learn.adafruit.com/products/2442/guides)
### Breadboard-friendly SPDT Slide Switch
[Breadboard-friendly SPDT Slide Switch](https://www.adafruit.com/product/805)
These nice switches are perfect for use with breadboard and perfboard projects. They have 0.1" spacing and snap in nicely into a solderless breadboard. They're easy to switch no matter what size fingers you have, but not so easy that they'll get flipped by accident. Work great as...
In Stock
[Buy Now](https://www.adafruit.com/product/805)
[Related Guides to the Product](https://learn.adafruit.com/products/805/guides)
### Medium Surface Transducer with Wires - 4 Ohm 3 Watt
[Medium Surface Transducer with Wires - 4 Ohm 3 Watt](https://www.adafruit.com/product/1785)
Turn any surface/wall/table etc into a speaker with a surface transducer. This type of speaker does not have a moving cone like most speakers you've seen. Instead, a small metal rod is wrapped with the voice coil. When current is pulsed through the coil, the magnetic field causes a piece...
In Stock
[Buy Now](https://www.adafruit.com/product/1785)
[Related Guides to the Product](https://learn.adafruit.com/products/1785/guides)
### Lithium Ion Cylindrical Battery - 3.7v 2200mAh
[Lithium Ion Cylindrical Battery - 3.7v 2200mAh](https://www.adafruit.com/product/1781)
Need a big battery for your project? This lithium-ion battery contains a 2200mAh and a protection circuit that provides over-voltage, under-voltage, and over-current protection. Yet, it is slim and easy to fit into many project cases.
This cell can provide 2 **C** of...
In Stock
[Buy Now](https://www.adafruit.com/product/1781)
[Related Guides to the Product](https://learn.adafruit.com/products/1781/guides)
### 0.1" 36-pin Strip Right-Angle Female/Socket Header (5 pack)
[0.1" 36-pin Strip Right-Angle Female/Socket Header (5 pack)](https://www.adafruit.com/product/1542)
Socket (female) header is like the duct tape of electronics. Its great for connecting things together, soldering to perf-boards or PCBs to allow 22AWG wire or male header to connect, etc. We go through these gals real fast, and thought that given how handy they are, we'd offer them in a pack of...
In Stock
[Buy Now](https://www.adafruit.com/product/1542)
[Related Guides to the Product](https://learn.adafruit.com/products/1542/guides)
### Silicone Cover Stranded-Core Ribbon Cable - 4 Wires 1 Meter Long
[Silicone Cover Stranded-Core Ribbon Cable - 4 Wires 1 Meter Long](https://www.adafruit.com/product/3889)
For those who are fans of our silicone-covered wires, but are always looking to _up their wiring game_. We now have **Silicone Cover Ribbon cables!** These may look _a lot_ like
In Stock
[Buy Now](https://www.adafruit.com/product/3889)
[Related Guides to the Product](https://learn.adafruit.com/products/3889/guides)
### Part: M2x8mm Screws
quantity: 16
M2x8mm Screws
[M2x8mm Screws](https://amzn.to/3K0Ag36)
### Part: M2.5x12mm screws
quantity: 6
M2.5x12mm screws
[M2.5x12mm screws](https://amzn.to/3yJTKGK)
### Part: M2.5x6mm Screw
quantity: 1
M2.5x6mm Screw
[M2.5x6mm Screw](https://amzn.to/3yJCeSZ)
### Part: Ardent Reel Butter Bearing Lube
quantity: 1
Ardent Reel Butter Bearing Lube
[Ardent Reel Butter Bearing Lube](https://amzn.to/4c20vlB)
# Dune Worm Thumper
## 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](http://fritzing.org/download/).
## 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](https://github.com/adafruit/Fritzing-Library/tree/master/parts).
## Wired Connections
- The transducer is connected to the pins on the screw block terminal
- The servo plugs into the servo connection pins
- The slide switch is connected to the EN and GND pins on the Feather.
- The Lipo battery plugs into the battery port on the Feather via a 2-pin JST plug
# Dune Worm Thumper
## CircuitPython
[CircuitPython](https://github.com/adafruit/circuitpython) is a derivative of [MicroPython](https://micropython.org) 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.
[Download the latest version of CircuitPython for this board via circuitpython.org](https://circuitpython.org/board/adafruit_feather_rp2040_prop_maker/)
**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.**
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.
```terminal
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](https://cdn-learn.adafruit.com/assets/assets/000/101/659/original/flash_nuke.uf2?1618945856)
# Dune Worm Thumper
## Code
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.
https://github.com/adafruit/Adafruit_Learning_System_Guides/blob/main/Dune_Thumper/code.py
## 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 Feather's **CIRCUITPY** drive:
- **lib** folder
- **dune\_thumper\_sfx.wav**
- **code.py**
Your RP2040 Prop-Maker Feather **CIRCUITPY** drive should look like this after copying the **lib** folder, **wav** file and the **code.py** file.
## How the CircuitPython Code Works
The code begins by enabled the `EXTERNAL_POWER` pin. This pin enables power to all of the external component pins, which includes the servo header and speaker output.
```python
# 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
```
## Audio Setup
Next is I2S audio setup. The **dune\_thumper\_sfx.wav** audio file is passed to a `Mixer` object. The `Mixer` is setup to play the sound effect in a loop, but with the volume initially at `0`. Later on in the code loop, the volume will be adjusted so that you can hear the audio. This is one technique you can use to incorporate playing and pausing audio in a non-blocking way in your code.
```python
# i2s playback
wave_file = open("dune_thumper_sfx.wav", "rb")
wave = audiocore.WaveFile(wave_file)
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)
audio.play(mixer)
mixer.voice[0].play(wave, loop=True)
mixer.voice[0].level = 0
```
## Servo
A continuous servo is setup next using the servo header.
```python
# servo control
pwm = pwmio.PWMOut(board.EXTERNAL_SERVO, frequency=10)
prop_servo = servo.ContinuousServo(pwm)
servo_move = False
```
## Accelerometer
Last but not least, the onboard LIS3DH is initialized over I2C. In the loop, the LIS3DH will be able to affect the prop by detecting `shake`.
```python
i2c = board.I2C()
int1 = DigitalInOut(board.ACCELEROMETER_INTERRUPT)
lis3dh = adafruit_lis3dh.LIS3DH_I2C(i2c, int1=int1)
lis3dh.range = adafruit_lis3dh.RANGE_2_G
```
## The Loop
In the loop the `servo_move` state determines what all of the components are doing. If `servo_move` is `False`, then the speaker is silent and the servo does not move.
```python
if not servo_move:
mixer.voice[0].level = 0.0
prop_servo.throttle = 0.0
```
If the LIS3DH detects a `shake`, then `servo_move` is set to `True`.
```python
if lis3dh.shake(shake_threshold=20):
servo_move = True
clock = ticks_ms()
clock = ticks_add(clock, prop_time)
```
When `servo_move` is `True`, the servo spins and the speaker output is set to `0.5` with the `Mixer` object. `ticks` is used to keep time in a non-blocking way. After three seconds have passed, `servo_move` is set back to `False`.
```python
else:
prop_servo.throttle = 0.5
mixer.voice[0].level = 0.5
if ticks_diff(ticks_ms(), clock) >= prop_time:
servo_move = False
```
# Dune Worm Thumper
## 3D Printing
## 3D Printed Parts
STL files for 3D printing will need to be oriented for print using either FDM or SLS machines.
Parts were built with PLA filament.
Original design source files may be downloaded using the links below.
[Edit Design](https://a360.co/3xcMHWx)
[Download CAD STEP file source](https://cdn-learn.adafruit.com/assets/assets/000/130/411/original/Dune_Thumper-step.zip?1717509329)
[Download STLs](https://www.thingiverse.com/thing:6649745)
## Slice with Settings for PLA material
The parts were sliced using CURA using the slice settings below.
- PLA filament 200c extruder
- 0.2 layer height
- 10% gyroid infill
- 60mm/s print speed
- 60c heated bed
## Supports
- Placement: Everywhere
- Support Overhang Angle: 80
- Support Destiny: 10%
- Enable Support Interface
- Enable Support Roof
- Support Z Distance: .21
- Brim: 6
# Dune Worm Thumper
## Assembly
## Right-Angle Socket Header
To keep the build slim, we used a right-angled Socket header pins to connect the continuous servo motor.
## Slide Switch
Using a short length of ribbon wire, solder one of the slide switch's outer legs to the EN pin and center leg to the GND pin on the Feather.
## Mount Feather
Align the Rod-Holder part to the screw mounts on the Feather.
Use M2.5x12mm screws to fasten the Rod-Holder and Feather to the Body-Mount part.
## Mount Slide Switch
Place the slide switch inside the cut-out on the Body-Mount part.
## Connect Transducer wires
Solder wires to the Transducer. Use the terminal block to connect wires. Tuck the wires under the Feather
## Lipo Holder
Use M2x8mm long screws to fasten the Lipo-Holder part to the Body-Servo Part.
Insert a 2200mAh lipo battery into the Lipo-Holder.
## Mount Servo
Use the included servo screws or a M2x8mm screw, to secure to the Body-Servo part. Attach a double arm servo horn with the included screws.
## Mount Transducer
Press fit the Transducer to the bottom Body-Servo part.
## Assemble Rod
The Rod on Top-Body part slides into the Rod-Holder part.
The Stopper part is fastened with a M2.5x8mm screw.
Use a small amount of lube to reduce friction on the rod.
We used [Ardent Reel Butter Bearing Lube](https://amzn.to/4c20vlB).
## Align body parts
Connect the Servo and Lipo battery to the ports on the Feather.
Thread wires away from the servo horn and the body side edges.
Use M2x8mm screws to join the bodies together.
## Use
In the code, whenever the accelerometer detects the device is being shaked, it’ll drive the continuous servo and play the sound effect through the I2S audio amplifier.
The servo actuates the top clapper repeatedly while the transducer turns the surface into a speaker and plays the thumper sound effect.
We think this demo code could be used in other projects, just change up the accelerometer's sensitivity and timing of the servo to fit your project.
## Featured Products
### Adafruit RP2040 Prop-Maker Feather with I2S Audio Amplifier
[Adafruit RP2040 Prop-Maker Feather with I2S Audio Amplifier](https://www.adafruit.com/product/5768)
The Adafruit Feather series gives you lots of options for a small, portable, rechargeable microcontroller board. By picking a feather and stacking on a FeatherWing you can create advanced projects quickly. One popular combo is our [Feather M4](https://www.adafruit.com/product/3857)...
Out of Stock
[Buy Now](https://www.adafruit.com/product/5768)
[Related Guides to the Product](https://learn.adafruit.com/products/5768/guides)
### Continuous Rotation Micro Servo
[Continuous Rotation Micro Servo](https://www.adafruit.com/product/2442)
Need to make a _tiny_ robot? This little micro servo rotates 360 degrees fully forward or backward, instead of moving to a single position. You can use any servo code, hardware, or library to control these servos. Good for making simple moving robots. Comes with five horns and...
Out of Stock
[Buy Now](https://www.adafruit.com/product/2442)
[Related Guides to the Product](https://learn.adafruit.com/products/2442/guides)
### Medium Surface Transducer with Wires - 4 Ohm 3 Watt
[Medium Surface Transducer with Wires - 4 Ohm 3 Watt](https://www.adafruit.com/product/1785)
Turn any surface/wall/table etc into a speaker with a surface transducer. This type of speaker does not have a moving cone like most speakers you've seen. Instead, a small metal rod is wrapped with the voice coil. When current is pulsed through the coil, the magnetic field causes a piece...
In Stock
[Buy Now](https://www.adafruit.com/product/1785)
[Related Guides to the Product](https://learn.adafruit.com/products/1785/guides)
### Breadboard-friendly SPDT Slide Switch
[Breadboard-friendly SPDT Slide Switch](https://www.adafruit.com/product/805)
These nice switches are perfect for use with breadboard and perfboard projects. They have 0.1" spacing and snap in nicely into a solderless breadboard. They're easy to switch no matter what size fingers you have, but not so easy that they'll get flipped by accident. Work great as...
In Stock
[Buy Now](https://www.adafruit.com/product/805)
[Related Guides to the Product](https://learn.adafruit.com/products/805/guides)
### 0.1" 36-pin Strip Right-Angle Female/Socket Header (5 pack)
[0.1" 36-pin Strip Right-Angle Female/Socket Header (5 pack)](https://www.adafruit.com/product/1542)
Socket (female) header is like the duct tape of electronics. Its great for connecting things together, soldering to perf-boards or PCBs to allow 22AWG wire or male header to connect, etc. We go through these gals real fast, and thought that given how handy they are, we'd offer them in a pack of...
In Stock
[Buy Now](https://www.adafruit.com/product/1542)
[Related Guides to the Product](https://learn.adafruit.com/products/1542/guides)
### Lithium Ion Cylindrical Battery - 3.7v 2200mAh
[Lithium Ion Cylindrical Battery - 3.7v 2200mAh](https://www.adafruit.com/product/1781)
Need a big battery for your project? This lithium-ion battery contains a 2200mAh and a protection circuit that provides over-voltage, under-voltage, and over-current protection. Yet, it is slim and easy to fit into many project cases.
This cell can provide 2 **C** of...
In Stock
[Buy Now](https://www.adafruit.com/product/1781)
[Related Guides to the Product](https://learn.adafruit.com/products/1781/guides)
### Silicone Cover Stranded-Core Ribbon Cable - 4 Wires 1 Meter Long
[Silicone Cover Stranded-Core Ribbon Cable - 4 Wires 1 Meter Long](https://www.adafruit.com/product/3889)
For those who are fans of our silicone-covered wires, but are always looking to _up their wiring game_. We now have **Silicone Cover Ribbon cables!** These may look _a lot_ like
In Stock
[Buy Now](https://www.adafruit.com/product/3889)
[Related Guides to the Product](https://learn.adafruit.com/products/3889/guides)
## Related Guides
- [Adafruit RP2040 Prop-Maker Feather](https://learn.adafruit.com/adafruit-rp2040-prop-maker-feather.md)
- [Motion Sensor Bat](https://learn.adafruit.com/motion-sensor-bat.md)
- [Mario Magic Wand](https://learn.adafruit.com/mario-magic-wand.md)
- [Gravity Falls Memory Gun](https://learn.adafruit.com/gravity-falls-memory-gun.md)
- [Bricktunes: LEGO Synthesizer Glove](https://learn.adafruit.com/bricktunes-lego-glove-synthesizer.md)
- [Prop-Maker Feather Talking Adabot Clock](https://learn.adafruit.com/prop-maker-feather-talking-adabot-clock.md)
- [Color Sensing Music Player](https://learn.adafruit.com/color-sensing-music-player.md)
- [LED Masquerade Masks with n00ds](https://learn.adafruit.com/led-masquerade-masks-with-n00ds.md)
- [Halo Energy Sword RP2040](https://learn.adafruit.com/halo-energy-sword-rp2040.md)
- [Zelda Echoes Of Wisdom Tri Rod](https://learn.adafruit.com/zelda-tri-rod.md)
- [ Faz-Wrench - Five Nights at Freddy's](https://learn.adafruit.com/faz-wrench.md)
- [Talking HAL 9000 with RP2040 Prop Maker Feather](https://learn.adafruit.com/hal-9000-rp2040-prop-maker.md)
- [Close Encounters of the MIDI NeoPixel Visualizer Kind](https://learn.adafruit.com/midi-neopixel-visualizer.md)
- [Adabot Toy Robot Friend](https://learn.adafruit.com/adabot-rp2040.md)
- [Soundbox RP2040](https://learn.adafruit.com/soundbox-rp2040.md)
- [Lightsaber Prop-Maker RP2040](https://learn.adafruit.com/lightsaber-rp2040.md)