Project 3 Result!

 Video:

Project Statement:

For this project, I was inspired by the inflatable tube guys, often seen in car lots. Since this was a project where we wanted to display an emotion when triggered by a sensor, I thought a good way to do this would be to have a stationary being that would show happiness when someone gets close. One way to do this would be to have a fan turn on, causing the inflatable tube to start billowing, but I did not want to introduce a fan or a sewing project into such a short project, so I thought servos could be used to emulate the motion by raising and waving the being's arms near its head when triggered by the proximity sensor. I had also planned to have a changing face, but based on the way I had already built the arms made me rethink its design from two faces that switch places to a happy mouth moving to cover a sad mouth when someone gets close. During the critique session, I was given the idea to have had the face rotate upright to switch the faces rather than on two ends of a longer stick switching places, which I had not thought of but think it is a great idea for a potential second iteration. The coding and construction itself was not too complicated, and I am very glad it went much better than past projects had. I like the simple, minimalistic style of my current iteration, but with more time I probably would have made a more attractive or neater robot, and covered up more of the mechanical components. Overall, I am happy with how my project turned out!

Code:

from machine import Pin

from servo import Servo

import utime

import time

trigger = Pin(27, Pin.OUT)

echo = Pin(28, Pin.IN)

servo1 = Servo(pin=26)

servo2 = Servo(pin=22)

servo3 = Servo(pin=21)

def ultra():

   trigger.low()

   utime.sleep_us(2)

   trigger.high()

   utime.sleep_us(5)

   trigger.low()

   while echo.value() == 0:

       signaloff = utime.ticks_us()

   while echo.value() == 1:

       signalon = utime.ticks_us()

   timepassed = signalon - signaloff

   distance = (timepassed * 0.0343) / 2

   print("The distance from object is ",distance,"cm")

   return distance

while True:

    #ultra()

    servo1.move(135)

    servo2.move(45)

    servo3.move(45)

    utime.sleep(1)

    while ultra() <= 10:

        servo3.move(12)

        servo1.move(90)  # turns the servo to 0°.

        servo2.move(90)

        time.sleep(.5)

        servo1.move(0)  # turns the servo to 90°.

        servo2.move(180)

        time.sleep(.5)

    utime.sleep(1)