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ADAFRUIT ITSYBITSY RP2040
Adafruit Industries LLC
LO-LA59 Droid
2022-08-30 | By Adafruit Industries
License: See Original Project 3D Printing Wearables
Courtesy of Adafruit
Guide by Ruiz Brothers
Overview
Build Lola, the companion droid to young Princess Leia.
This cute shoulder bot emotes by flapping her wings and blinking both LED eyes. Small and light enough to carry around on your next mission!
Embedded magnets allow Lola to attach to your shoulder or metal surfaces!
Animatronic Wings
Two micro servos articulate each wing by pushing under the panel. This makes it simple to assemble and less likely to strip the servos.
Mount with Magnets
The bottom of the body feature spots for press fitting magnets to attach to legs, shoulders, or metal objects!
ItsyBitsy RP2040
Powered by the ItsyBitsy RP2040. This dev board is packed with lots of great features and has the ability to use both Arduino and CircuitPython.
Parts
Adafruit LiIon/LiPoly Backpack Add-On for Pro Trinket/ItsyBitsy
1 x USB Cable
1 x Pin Back
1 x Slide Switch
1 x Male Header
1 x Female Header Set
1 x Spudger Tool
Circuit Diagram
The wiring diagram below provides a visual reference for connecting the components. It is not true to scale; it is just meant to be used as reference. This diagram was created using the Fritzing software package.
Take a moment to review the components in the circuit diagram. This illustration is meant for referencing wired connections - the length of wire, position, and size of components are not exact.
Wires are measured and cut to have enough slack to reach each component.
Silicone ribbon wire is used to make them easier to coil and manage each wire inside the tight enclosure space.
Wired Connections
The two micro-servos share voltage, ground, and signal connections.
NeoPixel to ItsyBisty
DIN from NeoPixel to pin 5 on ItsyBitsy
5V from NeoPixel to VHI on ItsyBitsy
GND from NeoPixel to GND on ItsyBitsy
Servo
VCC wire to VHI on ItsyBitsy
GND wire to GND on ItsyBitsy
Signal wire to pin A2 on ItsyBitsy
Lipoly Backpack
Bat on Backpack to Bat on ItsyBitsy
G on Backpack to G on ItsyBitsy
5V on Backpack to USB on ItsyBitsy
Slide Switch
Pin 1 to switch pin on Lipoly Backpack
Pin 2 to switch pin on Lipoly Backpack
CircuitPython
CircuitPython is a derivative of MicroPython designed to simplify experimentation and education on low-cost microcontrollers. It makes it easier than ever to get prototyping by requiring no upfront desktop software downloads. Simply copy and edit files on the CIRCUITPY drive to iterate.
CircuitPython QuickStart
Follow this step-by-step to quickly get CircuitPython running on your board.
Download the latest version of CircuitPython for this board
Click the link above to download the latest CircuitPython UF2 file.
Save it wherever is convenient for you.
To enter the bootloader, hold down the BOOT/BOOTSEL button (highlighted in red above), and while continuing to hold it (don't let go!), press and release the reset button (highlighted in blue above). Continue to hold the BOOT/BOOTSEL button until the RPI-RP2 drive appears!
If the drive does not appear, release all the buttons, and then repeat the process above.
You can also start with your board unplugged from USB, press, and hold the BOOTSEL button (highlighted in red above), continue to hold it while plugging it into USB, and wait for the drive to appear before releasing the button.
A lot of people end up using charge-only USB cables and it is very frustrating! Make sure you have a USB cable you know is good for data sync.
You will see a new disk drive appear called RPI-RP2.
Drag the adafruit_circuitpython_etc.uf2 file to RPI-RP2.
The RPI-RP2 drive will disappear, and a new disk drive called CIRCUITPY will appear.
That's it, you're done! :)
Safe Mode
You want to edit your code.py or modify the files on your CIRCUITPY drive but find that you can't. Perhaps your board has gotten into a state where CIRCUITPY is read-only. You may have turned off the CIRCUITPY drive altogether. Whatever the reason, safe mode can help.
Safe mode in CircuitPython does not run any user code on startup and disables auto-reload. This means a few things. First, safe mode bypasses any code in boot.py (where you can set CIRCUITPY read-only or turn it off completely). Second, it does not run the code in code.py. And finally, it does not automatically soft-reload when data is written to the CIRCUITPY drive.
Therefore, whatever you may have done to put your board in a non-interactive state, safe mode gives you the opportunity to correct it without losing all of the data on the CIRCUITPY drive.
Entering Safe Mode in CircuitPython 6.x
This section explains entering safe mode on CircuitPython 6.x.
To enter safe mode when using CircuitPython 6.x, plug in your board or hit reset (highlighted in red above). Immediately after the board starts up or resets, it waits 700ms. On some boards, the onboard status LED (highlighted in green above) will turn solid yellow during this time. If you press reset during that 700ms, the board will start up in safe mode. It can be difficult to react to the yellow LED, so you may want to think of it simply as a slow double click of the reset button. (Remember, a fast double click of reset enters the bootloader.)
Entering Safe Mode in CircuitPython 7.x
This section explains entering safe mode on CircuitPython 7.x.
To enter safe mode when using CircuitPython 7.x, plug in your board or hit reset (highlighted in red above). Immediately after the board starts up or resets, it waits 1000ms. On some boards, the onboard status LED (highlighted in green above) will blink yellow during that time. If you press reset during that 1000ms, the board will start up in safe mode. It can be difficult to react to the yellow LED, so you may want to think of it simply as a slow double click of the reset button. (Remember, a fast double click of reset enters the bootloader.)
In Safe Mode
Once you've entered safe mode successfully in CircuitPython 6.x, the LED will pulse yellow.
If you successfully enter safe mode on CircuitPython 7.x, the LED will intermittently blink yellow three times.
If you connect to the serial console, you'll find the following message.
Copy Code
Auto-reload is off. Running in safe mode! Not running saved code. CircuitPython is in safe mode because you pressed the reset button during boot. Press again to exit safe mode. Press any key to enter the REPL. Use CTRL-D to reload.
You can now edit the contents of the CIRCUITPY drive. Remember, your code will not run until you press the reset button, or unplug and plug in your board, to get out of safe mode.
Flash Resetting UF2
If your board ever gets into a really weird state and doesn't even show up as a disk drive when installing CircuitPython, try loading this 'nuke' UF2 which will do a 'deep clean' on your Flash Memory. You will lose all the files on the board, but at least you'll be able to revive it! After loading this UF2, follow the steps above to re-install CircuitPython.
Download flash erasing "nuke" UF2
Code
Once you've finished setting up your ItsyBitsy with CircuitPython, you can access the code and necessary libraries by downloading the Project Bundle.
To do this, click on the Download Project Bundle button in the window below. It will download as a zipped folder.
Copy Code
# SPDX-FileCopyrightText: 2021 Phil Burgess for Adafruit Industries
#
# SPDX-License-Identifier: MIT
"""
Lola Droid Shoulder Robot with servo and NeoPixel
"""
# pylint: disable=import-error
import time
import random
import board
import pwmio
import neopixel
from adafruit_motor import servo
from adafruit_led_animation.animation.comet import Comet
from adafruit_led_animation.animation.SparklePulse import SparklePulse
from adafruit_led_animation.sequence import AnimationSequence
from adafruit_led_animation.color import RED, BLUE
PIXEL_PIN = board.D5
SERVO_PIN = board.A2
NUM_PIXELS = 12
ORDER = neopixel.GRB
BRIGHTNESS = 0.1
# Initialize servo
PWM = pwmio.PWMOut(SERVO_PIN, frequency=50)
SERVO = servo.Servo(PWM)
# Initialize NeoPixels and animations
PIXELS = neopixel.NeoPixel(PIXEL_PIN, NUM_PIXELS, auto_write=False,
pixel_order=ORDER)
LARSON = Comet(PIXELS, bounce=True, speed=0.6/NUM_PIXELS,
tail_length=NUM_PIXELS//2,
color=(RED[0] * BRIGHTNESS, # This is a little faster than
RED[1] * BRIGHTNESS, # using the NeoPixel brightness
RED[2] * BRIGHTNESS)) # setting.
SPARKLE = SparklePulse(PIXELS, period=2, speed=0.15,
max_intensity=BRIGHTNESS, color=BLUE)
ANIMATIONS = AnimationSequence(LARSON, SPARKLE, advance_interval=7,
auto_clear=False)
SERVO.angle = POSITION = NEXT_POSITION = 7
MOVING = False # Initial state = paused
START_TIME = time.monotonic() # Initial time
DURATION = 1.0 # Hold initial position for 1 sec
while True: # Loop forever...
# Move turret -- randomly looks around and pauses
NOW = time.monotonic()
ELAPSED = NOW - START_TIME # Seconds since start of motion or pause
if ELAPSED >= DURATION: # End motion/pause?
MOVING = not MOVING # Toggle between those two states
START_TIME = NOW # and record the new starting time
ELAPSED = 0.0
if MOVING: # Switching from paused to moving
POSITION = NEXT_POSITION
while abs(POSITION - NEXT_POSITION) < 10: # Min +/- 10 degrees
NEXT_POSITION = random.uniform(0, 90) # Try, try again
DURATION = 0.2 + 0.6 * abs(POSITION - NEXT_POSITION) / 80
else: # Switching from moving to paused
SERVO.angle = NEXT_POSITION # Move to end of sweep
DURATION = random.uniform(0.5, 2.5) # Pause time
if MOVING:
FRACTION = ELAPSED / DURATION # Linear 0 to 1
FRACTION = (3 * FRACTION ** 2) - (2 * FRACTION ** 3) # Ease in/out
SERVO.angle = POSITION + (NEXT_POSITION - POSITION) * FRACTION
ANIMATIONS.animate() # Cycle through NeoPixel animationsUpload the Code and Libraries to the ItsyBitsy
After downloading the Project Bundle, plug your board into the computer's USB port with a known good USB data+power cable. You should see a new flash drive appear in the computer's File Explorer or Finder (depending on your operating system) called CIRCUITPY. Unzip the folder and copy the following items to the PyPortal's CIRCUITPY drive.
lib folder
code.py
Your PyPortal CIRCUITPY drive should look like this after copying the lib folder and the code.py file.
3D Printing
Parts List
STL files for 3D printing are oriented to print "as-is" on FDM style machines. Parts are designed to 3D print without any support material. Original design source may be downloaded using the links below.
Slice with settings for PLA material
The parts were sliced using CURA using the slice settings below.
PLA filament 220c extruder
0.2-layer height
10% gyroid infill
60mm/s print speed
60c heated bed
Supports
Support Extrusion Width: .2
Support Density: 4%
Support Overhang Angle: 50
Support Z Height: .21
Interface: On
Support Roof: On
Support Pattern: Zig Zag
Build Plate Adhesion
Type: brim
Line Count: 8
Painting
Use a metallic paint to give the body a shine coat. It will take four to five coats to cover the droid.
Assemble
Solder Boards
Follow the circuit diagram to connect the two boards together.
Place the components over the mounts on the case to measure wire length.
Connectors
Use male and female headers to easy connect the two servos and two NeoPixel boards. You may use Kapton tape to seal the connections.
Mount Magnet
Align the magnet pin to press fit through the cutouts on the case.
Mount boards
The ItsyBitsy, Lipo backpack, and slide switch press fit into the bottom body. Align the ItsyBitsy USB port to the opening of the case.
Mount Servo to Center Body
Place the two servos with the mounting holes against the flat walls of the center body part.
Servo Horns
The left horn attaches to the servo with the corner cut out on the case. Use the included screws to secure both horns to each servo.
Thread wires
Push the two servo wires into the center hole on the case. Coil the wires to avoid cutting them short.
Align Bottom and Center Body
Rotate the Bottom Part so the USB port opening points towards the back of Lola. Orient the Center Body part so the two holes (LED eyes) face the opposite side of the USB port.
Pass the two LED wires from the underside of the Center Part to the top.
Place the battery on same side as the slide switch. The battery plugs into the JST port on the lipo backpack board.
Connects
Plug all the connectors together.
Attach Center to Bottom Body
Align the Bottom Body part clips to the center body grooves.
Use a Spudger tool to disassemble if needed.
Wing Assemble
A metal paper clip is used to create the pin for the wings. Use Precision Flat Pliers to carefully bend the wire to fit the curvature of the wing tabs.
Use eye and protection and gloves and use caution in cutting paper clips as metal piece(s) may fly in uncertain directions.
Tail Assemble
Align the tail so the cut corner faces the eyes. This allows the tail to fully fold forward for transporting the droid.
Connect NeoPixels
Solder male headers to the NeoPixel Jewel and NeoPixel Button.
Pass the LED wires into the Top Body cut outs.
Attach Top Body
Align the clips on the top body part to the grooves on the Center Body part. Seat the first to clips into the groove then the press fit the last two clips into the grooves.
Attach diffuser domes
Connect the Neopixel boards to the wires.
Complete
Use skate lubricant to help the wings to flap smoothly.
Have questions or comments? Continue the conversation on TechForum, DigiKey's online community and technical resource.
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