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Crickits/CircuitPython_BLE_Rover/code.py

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+# SPDX-FileCopyrightText: 2019 John Edgar Park for Adafruit Industries
+#
+# SPDX-License-Identifier: MIT
+
+# CircuitPython BLE Rover
+# Use with the Adafruit BlueFruit LE Connect app
+# Works with CircuitPython 4.0.0-beta.1 and later
+# running on an nRF52840 Feather board and Crickit FeatherWing
+
+import time
+
+import board
+import digitalio
+
+from adafruit_crickit import crickit
+
+from adafruit_ble import BLERadio
+from adafruit_ble.advertising.standard import ProvideServicesAdvertisement
+from adafruit_ble.services.nordic import UARTService
+
+from adafruit_bluefruit_connect.packet import Packet
+# Only the packet classes that are imported will be known to Packet.
+from adafruit_bluefruit_connect.button_packet import ButtonPacket
+from adafruit_bluefruit_connect.color_packet import ColorPacket
+
+# Prep the status LEDs on the Feather
+blue_led = digitalio.DigitalInOut(board.BLUE_LED)
+red_led = digitalio.DigitalInOut(board.RED_LED)
+blue_led.direction = digitalio.Direction.OUTPUT
+red_led.direction = digitalio.Direction.OUTPUT
+
+ble = BLERadio()
+uart_service = UARTService()
+advertisement = ProvideServicesAdvertisement(uart_service)
+
+# motor setup
+motor_1 = crickit.dc_motor_1
+motor_2 = crickit.dc_motor_2
+
+FWD = -1.0
+REV = 0.7
+
+crickit.init_neopixel(24, brightness = 0.2)  # create Crickit neopixel object
+RED = (200, 0, 0)
+GREEN = (0, 200, 0)
+BLUE = (0, 0, 200)
+PURPLE = (120, 0, 160)
+YELLOW = (100, 100, 0)
+AQUA = (0, 100, 100)
+color = PURPLE  # current NeoPixel color
+prior_color = PURPLE  # to store state of previous color when changing them
+crickit.neopixel.fill(color)
+
+print("BLE Rover")
+print("Use Adafruit Bluefruit app to connect")
+while True:
+    blue_led.value = False
+    ble.start_advertising(advertisement)
+    while not ble.connected:
+        # Wait for a connection.
+        pass
+    blue_led.value = True  # turn on blue LED when connected
+    while ble.connected:
+        if uart_service.in_waiting:
+            # Packet is arriving.
+            red_led.value = False  # turn off red LED
+            packet = Packet.from_stream(uart_service)
+            if isinstance(packet, ColorPacket):
+                # Change the color.
+                color = packet.color
+                crickit.neopixel.fill(color)
+
+            # do this when buttons are pressed
+            if isinstance(packet, ButtonPacket) and packet.pressed:
+                red_led.value = True  # blink to show a packet has been received
+                if packet.button == ButtonPacket.UP:  # UP button pressed
+                    crickit.neopixel.fill(color)
+                    motor_1.throttle = FWD
+                    motor_2.throttle = FWD
+                elif packet.button == ButtonPacket.DOWN:  # DOWN button
+                    crickit.neopixel.fill(color)
+                    motor_1.throttle = REV
+                    motor_2.throttle = REV
+                elif packet.button == ButtonPacket.RIGHT:
+                    prior_color = color
+                    color = YELLOW
+                    crickit.neopixel.fill(color)
+                    motor_1.throttle = FWD
+                    motor_2.throttle = FWD * 0.5
+                elif packet.button == ButtonPacket.LEFT:
+                    prior_color = color
+                    color = YELLOW
+                    crickit.neopixel.fill(color)
+                    motor_1.throttle = FWD * 0.5
+                    motor_2.throttle = FWD
+                elif packet.button == ButtonPacket.BUTTON_1:
+                    crickit.neopixel.fill(RED)
+                    motor_1.throttle = 0.0
+                    motor_2.throttle = 0.0
+                    time.sleep(0.5)
+                    crickit.neopixel.fill(color)
+                elif packet.button == ButtonPacket.BUTTON_2:
+                    color = GREEN
+                    crickit.neopixel.fill(color)
+                elif packet.button == ButtonPacket.BUTTON_3:
+                    color = BLUE
+                    crickit.neopixel.fill(color)
+                elif packet.button == ButtonPacket.BUTTON_4:
+                    color = PURPLE
+                    crickit.neopixel.fill(color)
+            # do this when some buttons are released
+            elif isinstance(packet, ButtonPacket) and not packet.pressed:
+                if packet.button == ButtonPacket.RIGHT:
+                    print("released right")
+                    color = prior_color
+                    crickit.neopixel.fill(color)
+                    motor_1.throttle = FWD
+                    motor_2.throttle = FWD
+                if packet.button == ButtonPacket.LEFT:
+                    print("released left")
+                    color = prior_color
+                    crickit.neopixel.fill(color)
+                    motor_1.throttle = FWD
+                    motor_2.throttle = FWD