Pimoroni Servo 2040 Serial Testing

more_complicated_serial_test.py

import gc
import time
import math
from pimoroni import Button
from plasma import WS2812
from servo import ServoCluster, servo2040
from machine import UART, Pin

"""
An example of applying a wave pattern to a group of servos and the LEDs.

Press "Boot" to toggle the wave pattern on and off.

NOTE: ServoCluster and Plasma WS2812 use the RP2040's PIO system,
and as such may have problems when running code multiple times.
If you encounter issues, try resetting your board.
"""

SPEED = 5             # The speed that the LEDs will cycle at
BRIGHTNESS = 0.4      # The brightness of the LEDs
UPDATES = 50          # How many times to update LEDs and Servos per second
SERVO_EXTENT = 75     # How far from zero to move the servos

# Free up hardware resources ahead of creating a new ServoCluster
gc.collect()

# Create a servo cluster for pins 0 to 7, using PIO 0 and State Machine 0
START_PIN = servo2040.SERVO_3
END_PIN = servo2040.SERVO_8
servos = ServoCluster(pio=0, sm=0, pins=list(range(START_PIN, END_PIN + 1)))

# Create the LED bar, using PIO 1 and State Machine 0
led_bar = WS2812(servo2040.NUM_LEDS, 1, 0, servo2040.LED_DATA)

# Create the user button
user_sw = Button(servo2040.USER_SW)

# Start updating the LED bar
led_bar.start()

# Initialize UART on pins that would normally be used for servos
# Using SERVO_1 (GP0) as TX and SERVO_2 (GP1) as RX
uart = UART(0, baudrate=9600, tx=Pin(servo2040.SERVO_1), rx=Pin(servo2040.SERVO_2))

offset = 0.0
wave_active = True
last_button_state = False

def check_uart_message():
    if uart.any():
        msg = uart.read(5)  # Read up to 5 bytes
        print("Received message:", msg)
        return msg == b'hello'
    return False

while True:
    if check_uart_message():
        # Animate LEDs when 'hello' is received
        # Create a simple, obvious blinking animation
        for _ in range(3):  # Blink 3 times
            # Turn all LEDs on with bright red color
            for i in range(servo2040.NUM_LEDS):
                led_bar.set_hsv(i, 0.0, 1.0, 1.0)  # Full brightness red
            led_bar.update()
            time.sleep(0.5)  # Stay on for half a second

            # Turn all LEDs off
            led_bar.clear()
            led_bar.update()
            time.sleep(0.5)  # Stay off for half a second

        # Return to the original state (all LEDs off)
        led_bar.clear()
        led_bar.update()

    current_button_state = user_sw.raw()
    
    # Check for button press (transition from not pressed to pressed)
    if current_button_state and not last_button_state:
        wave_active = not wave_active
        if not wave_active:
            # Turn off LEDs and disable servos when wave is inactive
            led_bar.clear()
            servos.disable_all()

    if wave_active:
        offset += SPEED / 1000.0

        # Update all the LEDs
        for i in range(servo2040.NUM_LEDS):
            hue = i / (servo2040.NUM_LEDS * 4)
            led_bar.set_hsv(i, hue + offset, 1.0, BRIGHTNESS)

        # Update all the Servos
        for i in range(servos.count()):
            angle = ((i / servos.count()) + offset) * math.pi * 2
            servos.value(i, math.sin(angle) * SERVO_EXTENT, load=False)
        servos.load()  # We have now set all the servo values, so load them

    time.sleep(1.0 / UPDATES)
    last_button_state = current_button_state

simple_serial_test.py

import time
from machine import UART, Pin
from servo import servo2040

uart = UART(0, baudrate=9600, tx=Pin(servo2040.SERVO_1), rx=Pin(servo2040.SERVO_2))

while True:
    if uart.any():
        data = uart.read().decode('utf-8').strip()
        print(f"Received: {data}")
       
        if data.lower() == 'hello':
            print("Moving servo left and right")
   
    time.sleep(0.1)  # Small delay to prevent CPU overuse