# Ctrl4dofArmmakerpi.py
from machine import Pin,PWM,ADC
import utime
servo1 = PWM(Pin(12))
servo2 = PWM(Pin(13))
servo3 = PWM(Pin(14))
servo4 = PWM(Pin(15))
pot1 = ADC(26)
pot2 = ADC(27)
pot3 = ADC(28)
servo1.freq(50)
servo2.freq(50)
servo3.freq(50)
servo4.freq(50)
value4 = 5000
bluepressed = False
redpressed = False
bluebtn = Pin(16,Pin.IN)
redbtn = Pin(17,Pin.IN)
in_min = 0
in_max = 65535
out_min = 1000
out_max = 9000
def bluebtn_handler(pin):
global bluepressed
if not bluepressed:
bluepressed=True
global value4
timer_reaction = utime.ticks_diff(utime.ticks_ms(),timer_start)
value4 = value4 + 300
if value4 > 9000:
value4 = 9000
#print(value4)
def redbtn_handler(pin):
global redpressed
if not redpressed:
redpressed=True
global value4
timer_reaction = utime.ticks_diff(utime.ticks_ms(),timer_start)
value4 = value4 - 300
if value4 < 1000:
value4 = 1000
#print(value4)
servo4.duty_u16(int(5000))
while True:
value1 = pot1.read_u16()
Servo1 = (value1 - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
servo1.duty_u16(int(Servo1))
value2 = pot2.read_u16()
Servo2 = (value2 - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
servo2.duty_u16(int(Servo2))
value3 = pot3.read_u16()
Servo3 = (value3 - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
servo3.duty_u16(int(Servo3))
timer_start = utime.ticks_ms()
bluebtn.irq(trigger=Pin.IRQ_FALLING,handler=bluebtn_handler)
redbtn.irq(trigger=Pin.IRQ_FALLING,handler=redbtn_handler)
servo4.duty_u16(int(value4))
