Once you've finished setting up your Feather RP2040 Propmaker 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.
# SPDX-FileCopyrightText: Copyright (c) 2024 Liz Clark for Adafruit Industries
#
# SPDX-License-Identifier: MIT
import board
import audiocore
import audiobusio
import audiomixer
import pwmio
from digitalio import DigitalInOut, Direction, Pull
from adafruit_ticks import ticks_ms, ticks_add, ticks_diff
from adafruit_motor import servo
import adafruit_vl53l1x
distance_delay = 4 # how often vl53 is read
servo_delays = [2.0, 1.5, 1.0, 0.5] # servo spin delay
distances = [70, 50, 40, 50] # in centimeters
max_audio = 1
# audio files
music = audiocore.WaveFile(open("music-loop-1.wav", "rb"))
fx_1 = audiocore.WaveFile(open("bat0.wav", "rb"))
fx_2 = audiocore.WaveFile(open("bat1.wav", "rb"))
fx_3 = audiocore.WaveFile(open("bat2.wav", "rb"))
i2c = board.STEMMA_I2C()
vl53 = adafruit_vl53l1x.VL53L1X(i2c)
tracks = [music, fx_1, fx_2, fx_3]
audio = audiobusio.I2SOut(board.I2S_BIT_CLOCK, board.I2S_WORD_SELECT, board.I2S_DATA)
mixer = audiomixer.Mixer(voice_count=4, sample_rate=22050, channel_count=1,
bits_per_sample=16, samples_signed=True)
audio.play(mixer)
mixer.voice[0].play(tracks[0], loop=True)
mixer.voice[0].level = 0.0
# 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
switch = DigitalInOut(board.EXTERNAL_BUTTON)
switch.direction = Direction.INPUT
switch.pull = Pull.UP
# servo control
pwm = pwmio.PWMOut(board.EXTERNAL_SERVO, duty_cycle=2 ** 15, frequency=50)
servo = servo.ContinuousServo(pwm, min_pulse=750, max_pulse=2250)
vl53.start_ranging()
vl53_clock = ticks_ms()
vl53_time = distance_delay * 1000
servo_clock = ticks_ms()
servo_time = int(servo_delays[0] * 1000)
prop_time = False
servo_throttle = 0
while True:
if switch.value:
external_power.value = True
if prop_time:
if ticks_diff(ticks_ms(), servo_clock) >= servo_time:
print(servo_throttle)
servo.throttle = servo_throttle
servo_throttle = not servo_throttle
servo_clock = ticks_add(servo_clock, servo_time)
if ticks_diff(ticks_ms(), vl53_clock) >= vl53_time:
if vl53.data_ready:
print(f"Distance: {vl53.distance} cm")
vl53.clear_interrupt()
if vl53.distance is None:
prop_time = False
mixer.voice[0].level = 0.0
servo_time = int(servo_delays[0] * 1000)
servo.throttle = 1.0
else:
closest_distance = min(distances, key=lambda x: abs(vl53.distance - x))
# print(closest_distance)
if vl53.distance <= distances[0]:
prop_time = True
mixer.voice[0].level = max_audio
else:
prop_time = False
mixer.voice[0].level = 0.0
servo.throttle = 1.0
if closest_distance == distances[1]:
mixer.voice[1].play(tracks[1], loop=False)
servo_time = int(servo_delays[1] * 1000)
elif closest_distance == distances[2]:
mixer.voice[2].play(tracks[2], loop=False)
servo_time = int(servo_delays[2] * 1000)
elif closest_distance == distances[3]:
mixer.voice[3].play(tracks[3], loop=False)
servo_time = int(servo_delays[3] * 1000)
vl53_clock = ticks_add(vl53_clock, vl53_time)
else:
external_power.value = False
Upload the Code, Sound Effects and Libraries to the Feather RP2040 Propmaker
After downloading the Project Bundle, plug your Feather RP2040 Propmaker 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 RP2040 Propmaker's CIRCUITPY drive.
- lib folder
- code.py
- bat0.wav
- bat1.wav
- bat2.wav
- music-loop-1.wav
Your Feather RP2040 Propmaker CIRCUITPY drive should look like this after copying the lib folder, .wav filesĀ and the code.py file.
How the CircuitPython Code Works
At the top of the code, there are some user configurable settings that you can edit. distance_delay affects how often the time of flight sensor is read. The servo_delays array has four different delay amounts for spinning the servo. These correspond with the distances in the distances array. In the loop, when you pass certain distances with the time of flight sensor, the delay for the servo changes.
Finally, the music and sound effect audio files are opened. You can change which music loop and sound effects you want to have for the project. A few options are included in the project bundle.
distance_delay = 4 # how often vl53 is read
servo_delays = [2.0, 1.5, 1.0, 0.5] # servo spin delay
distances = [70, 50, 40, 50] # in centimeters
max_audio = 1
# audio files
music = audiocore.WaveFile(open("music-loop-1.wav", "rb"))
fx_1 = audiocore.WaveFile(open("bat0.wav", "rb"))
fx_2 = audiocore.WaveFile(open("bat1.wav", "rb"))
fx_3 = audiocore.WaveFile(open("bat2.wav", "rb"))
I2C and Audio
The time of flight sensor is instantiated over I2C. Next, the I2S audio is instantiated followed by a mixer object. Each of the four audio files will be played on separate voices.
i2c = board.STEMMA_I2C()
vl53 = adafruit_vl53l1x.VL53L1X(i2c)
tracks = [music, fx_1, fx_2, fx_3]
audio = audiobusio.I2SOut(board.I2S_BIT_CLOCK, board.I2S_WORD_SELECT, board.I2S_DATA)
mixer = audiomixer.Mixer(voice_count=4, sample_rate=22050, channel_count=1,
bits_per_sample=16, samples_signed=True)
audio.play(mixer)
mixer.voice[0].play(tracks[0], loop=True)
mixer.voice[0].level = 0.0
Input, Output and PWM
The external power pin is enabled as an output. This gives power to the external components on the Feather. The slide switch is attached to the EXTERNAL_BUTTON pin. In the loop, the slide switch controls the state of the external power pin. A PWM object is setup for the EXTERNAL_SERVO pin for the continuous servo.
# 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 switch = DigitalInOut(board.EXTERNAL_BUTTON) switch.direction = Direction.INPUT switch.pull = Pull.UP # servo control pwm = pwmio.PWMOut(board.EXTERNAL_SERVO, duty_cycle=2 ** 15, frequency=50) servo = servo.ContinuousServo(pwm, min_pulse=750, max_pulse=2250)
The Loop
In the loop, if the time of flight sensor does not detect anything in front of it, the mixer and servo are paused. If the sensor detects something, lamba is used to calculate which value in distances that the reading is closest to. This result determines the sound effect played and the servo speed.
while True:
if switch.value:
external_power.value = True
if prop_time:
if ticks_diff(ticks_ms(), servo_clock) >= servo_time:
print(servo_throttle)
servo.throttle = servo_throttle
servo_throttle = not servo_throttle
servo_clock = ticks_add(servo_clock, servo_time)
if ticks_diff(ticks_ms(), vl53_clock) >= vl53_time:
if vl53.data_ready:
print(f"Distance: {vl53.distance} cm")
vl53.clear_interrupt()
if vl53.distance is None:
prop_time = False
mixer.voice[0].level = 0.0
servo_time = int(servo_delays[0] * 1000)
servo.throttle = 1.0
else:
closest_distance = min(distances, key=lambda x: abs(vl53.distance - x))
# print(closest_distance)
if vl53.distance <= distances[0]:
prop_time = True
mixer.voice[0].level = max_audio
else:
prop_time = False
mixer.voice[0].level = 0.0
servo.throttle = 1.0
if closest_distance == distances[1]:
mixer.voice[1].play(tracks[1], loop=False)
servo_time = int(servo_delays[1] * 1000)
elif closest_distance == distances[2]:
mixer.voice[2].play(tracks[2], loop=False)
servo_time = int(servo_delays[2] * 1000)
elif closest_distance == distances[3]:
mixer.voice[3].play(tracks[3], loop=False)
servo_time = int(servo_delays[3] * 1000)
vl53_clock = ticks_add(vl53_clock, vl53_time)
else:
external_power.value = False
Page last edited January 21, 2025
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