Added a servo easing example

micropython/examples/servo2040/sensor_feedback.py

@@ -38,12 +38,12 @@ while user_sw.raw() is not True:
     for i in range(len(sensor_addrs)):
         mux.select(sensor_addrs[i])
         sensor_voltage = sen_adc.read_voltage()
-        
+
         # Calculate the LED's hue, with Green for high voltages and Blue for low
         hue = (2.0 - (sensor_voltage / 3.3)) * 0.333
-        led_bar.set_hsv(i, hue, 1.0, BRIGHTNESS)            
-            
+        led_bar.set_hsv(i, hue, 1.0, BRIGHTNESS)
+
         print("S", i + 1, " = ", round(sensor_voltage, 3), sep="", end=", ")
     print()
 
-    time.sleep(1.0 / UPDATES)
+    time.sleep(1.0 / UPDATES)

micropython/examples/servo2040/servo_cluster.py

@@ -13,7 +13,7 @@ START_PIN = servo2040.SERVO_1
 END_PIN = servo2040.SERVO_4
 servos = ServoCluster(pio=0, sm=0, pins=list(range(START_PIN, END_PIN + 1)))
 
-# Enable all servos (this puts it at the middle)
+# Enable all servos (this puts them at the middle)
 servos.enable_all()
 time.sleep(2)
 

micropython/examples/servo2040/simple_easing.py

@@ -0,0 +1,59 @@
+import time
+import math
+import random
+from pimoroni import Button
+from servo import Servo, servo2040
+
+# Press "Boot" to exit the program.
+
+UPDATES = 50            # How many times to update Servos per second
+TIME_FOR_EACH_MOVE = 2  # The time to travel between each random value
+UPDATES_PER_MOVE = TIME_FOR_EACH_MOVE * UPDATES
+
+SERVO_EXTENT = 80       # How far from zero to move the servo
+USE_COSINE = True       # Whether or not to use a cosine path between values
+
+# Create the user button
+user_sw = Button(servo2040.USER_SW)
+
+# Create a servo on pin 0
+s = Servo(servo2040.SERVO_0)
+
+# Get the initial value and create a random end value between the extents
+start_value = s.mid_value()
+end_value = random.uniform(-SERVO_EXTENT, SERVO_EXTENT)
+
+update = 0
+
+# Continually move the servo until the user button is pressed
+while user_sw.raw() is not True:
+
+    # Calculate how far along this movement to be
+    percent_along = update / UPDATES_PER_MOVE
+
+    if USE_COSINE:
+        # Move the servo between values using cosine
+        s.to_percent(math.cos(percent_along * math.pi), 1.0, -1.0, start_value, end_value)
+    else:
+        # Move the servo linearly between values
+        s.to_percent(percent_along, 0.0, 1.0, start_value, end_value)
+
+    # Print out the value the servo is now at
+    print("Value = ", round(s.value(), 3), sep="")
+
+    # Move along in time
+    update += 1
+
+    # Have we reached the end of this movement?
+    if update >= UPDATES_PER_MOVE:
+        # Reset the counter
+        update = 0
+
+        # Set the start as the last end and create a new random end value
+        start_value = end_value
+        end_value = random.uniform(-SERVO_EXTENT, SERVO_EXTENT)
+
+    time.sleep(1.0 / UPDATES)
+
+# Disable the servo
+s.disable()