adding robot lyre code

Adding code for the robot lyre project

Author: BlitzCityDIY

Robot_Lyre/code.py

@@ -0,0 +1,75 @@
+# SPDX-FileCopyrightText: 2023 Liz Clark for Adafruit Industries
+# SPDX-License-Identifier: MIT
+
+import time
+import board
+from adafruit_motor import servo
+from adafruit_pca9685 import PCA9685
+import usb_midi
+import adafruit_midi
+from adafruit_midi.note_on          import NoteOn
+
+#  MIDI input setup
+midi = adafruit_midi.MIDI(midi_in=usb_midi.ports[0], in_channel=0)
+
+# i2c PCA9685 setup
+i2c = board.STEMMA_I2C()
+pca = PCA9685(i2c)
+
+pca.frequency = 50
+
+servo0 = servo.Servo(pca.channels[0])
+servo1 = servo.Servo(pca.channels[1])
+servo2 = servo.Servo(pca.channels[2])
+servo3 = servo.Servo(pca.channels[3])
+servo4 = servo.Servo(pca.channels[4])
+servo5 = servo.Servo(pca.channels[5])
+servo6 = servo.Servo(pca.channels[6])
+servo7 = servo.Servo(pca.channels[7])
+servo8 = servo.Servo(pca.channels[8])
+servo9 = servo.Servo(pca.channels[9])
+servo10 = servo.Servo(pca.channels[10])
+servo11 = servo.Servo(pca.channels[11])
+servo12 = servo.Servo(pca.channels[12])
+servo13 = servo.Servo(pca.channels[13])
+servo14 = servo.Servo(pca.channels[14])
+servo15 = servo.Servo(pca.channels[15])
+
+# array of servos
+servos = [servo0, servo1, servo2, servo3, servo4, servo5,
+          servo6, servo7, servo8, servo9, servo10, servo11,
+          servo12, servo13, servo14, servo15]
+# array of midi notes, high to low
+midi_notes = [83, 81, 79, 77, 76, 74, 72, 71, 69, 67, 65, 64, 62, 60, 59, 57]
+angle0 = 20
+angle1 = 70
+
+# set servos to the same angle on boot
+# easier to adjust angles of the horns if needed
+print("setting servos")
+for i in range(16):
+    s = servos[i]
+    s.angle = angle1
+    time.sleep(0.05)
+print("servos set")
+
+while True:
+    # msg holds MIDI messages
+    msg = midi.receive()
+
+    for i in range(16):
+        # iterate through servos array & midi notes array
+        servo = servos[i]
+        note_played = midi_notes[i]
+
+        # if a noteon msg comes in that matches a note in the midi notes array..
+        if isinstance(msg, NoteOn) and msg.note == note_played:
+            # print(servo)
+            # print(note_played)
+            # servo moves
+            # angle alternates between angle0 and angle1
+            if servo.angle <= angle0:
+                servo.angle = angle1
+            else:
+                servo.angle = angle0
+            # print(servo.angle)