def __init__(self, port):
spi = SPI(port)
spi.setClockRate(4000000) # 4 MHz (rRIO max, gyro can go high)
spi.setClockActiveHigh()
spi.setChipSelectActiveLow()
spi.setMSBFirst()
self._spi = spi
self._command = [0x00] * DATA_SIZE
self._data = [0x00] * DATA_SIZE
self._command[0] = READ_COMMAND
self._accumulated_angle = 0.0
self._current_rate = 0.0
self._accumulated_offset = 0.0
self._rate_offset = 0.0
self._last_time = 0
self._current_time = 0
self._calibration_timer = Timer()
self._calibration_timer.start()
self._update_timer = Timer()
self._update_timer.start()
#
# self._update_thread = Thread(self.update, daemon=True)
# self._update_thread.start()
self.update()
def __init__(self, port, bitrate=None):
if bitrate is None:
bitrate = DEFAULT_SPI_BITRATE_HZ
simPort = None
if hal.HALIsSimulation():
from ._impl.sim_io import NavXSPISim
simPort = NavXSPISim()
self.port = SPI(port, simPort=simPort)
self.bitrate = bitrate
def __init__(self):
self.spi = SPI(0)
self.spi.setClockRate(2000000)
self.leds = 22
self.lastIndex = self.leds - 1
self.gamma = bytearray(256)
self.buffer = [0 for __ in range(self.leds + 1)]
self.masterBrightness = 1.0
for led in range(self.leds):
self.buffer[led] = bytearray(3)
for i in range(256):
# Color calculations from
# http://learn.adafruit.com/light-painting-with-raspberry-pi
self.gamma[i] = 0x80 | int(
pow(float(i) / 255.0, 2.5) * 127.0 + 0.5)
self.fill_RGB(255, 0, 0)
