def set_brightness(self, brightness):
"""
Set the NeoPixel's global brightness, 0-255.
:param int brightness: brightness to set (0-255)
"""
SPI.command(CMD_NEO_SETBRIGHT, params=[brightness])
def init(self, num_leds):
"""
Initialize the NeoPixel library.
:param int num_leds: number of neopixel leds.
"""
SPI.command(CMD_NEO_INIT, params=[num_leds])
def set_all_hsv(self, h, s, v):
"""
Set the HSV color of the entire strip.
:param int h: hue color value (0-255)
:param int s: saturation color value (0-255)
:param int v: value color value (0-255)
"""
SPI.command(CMD_NEO_SETALLHSV, params=[h, s, v])
def set_all(self, r, g, b):
"""
Set the color of the entire strip.
:param int r: red color value (0-255)
:param int g: green color value (0-255)
:param int b: blue color value (0-255)
"""
SPI.command(CMD_NEO_SETALL, params=[r, g, b])
def write8(self, addr, reg, data):
"""
Write a Byte to an I2C device.
:param int addr: address of the I2C device.
:param int reg: register address in the I2C device
:param var data: Byte to send
"""
SPI.command(CMD_I2C_WRITE8, params=[addr, reg, data])
def set_pixel(self, pixel, r, g, b):
"""
Set the color of a single pixel.
:param int pixel: pixel index
:param int r: red color value (0-255)
:param int g: green color value (0-255)
:param int b: blue color value (0-255)
"""
SPI.command(CMD_NEO_SET, params=[pixel, r, g, b])
def set_pixel_hsv(self, pixel, h, s, v):
"""
Set the HSV color of a single pixel.
:param int pixel: pixel index
:param int h: hue color value (0-255)
:param int s: saturation color value (0-255)
:param int v: value color value (0-255)
"""
SPI.command(CMD_NEO_SETHSV, params=[pixel, h, s, v])
def set_range(self, start, end, r, g, b):
"""
Set the color of a range of pixels.
:param int start: start index of led range
:param int end: end index of led range
:param int r: red color value (0-255)
:param int g: green color value (0-255)
:param int b: blue color value (0-255)
"""
SPI.command(CMD_NEO_SETRANGE, params=[start, end, r, g, b])
def set_range_hsv(self, start, end, h, s, v):
"""
Set the HSV color of a range of pixels.
:param int start: start index of led range
:param int end: end index of led range
:param int h: hue color value (0-255)
:param int s: saturation color value (0-255)
:param int v: value color value (0-255)
"""
SPI.command(CMD_NEO_SETRANGEHSV, params=[start, end, h, s, v])
def set(self, channel, pos):
"""
Set the position of one servo.
Pos in us, 500 to 2500
:param int channel: channel of the servo
:param int pos: position of the servo (500 to 2500)
"""
offtime = (pos + 2) // 4
SPI.command(CMD_SERVO_SET,
params=[channel, offtime >> 8, offtime & 0x00FF],
delay=0.008)
def write16(self, addr, reg, data):
"""
Write 2 bytes to an I2C device.
:param int addr: address of the I2C device.
:param int reg: register address in the I2C device
:param var data: Bytes to send
"""
val1 = (data & 0xFF00) >> 8
val2 = (data & 0x00FF)
SPI.command(CMD_I2C_WRITE16, params=[addr, reg, val1, val2])
def detect(self, addr):
"""
Returns True if an I2C device is found at a particular address.
:param int addr: address of the I2C device.
:return: I2C device detected
:rtype: bool
"""
return SPI.command(CMD_I2C_DETECT, params=[addr], returned=1)[0] == 1
def set_all(self, pos_list):
"""
Set position of all 16 servos using a list.
:param list pos_list: list of servo positions
"""
spi_params = []
i = 0
for pos in pos_list:
if pos is None:
# Tell FW not to update this servo
spi_params.append(0xFF)
spi_params.append(0xFF)
else:
offtime = (pos + 2) // 4
spi_params.append(offtime >> 8)
spi_params.append(offtime & 0x0FF)
i = i + 1
SPI.command(CMD_SERVO_SETALL, params=spi_params, delay=0.008)
def read8(self, addr, reg):
"""
Read a Byte from an I2C device.
:param int addr: address of the I2C device.
:param int reg: register address in the I2C device
:return: what is the function returning?
:rtype: var
"""
return SPI.command(CMD_I2C_READ8, params=[addr, reg], returned=1)[0]
def read_channel(self, channel):
"""
Reads the value of a single analog channel.
:param int channel: analog channel to read
:return: analog value of the channel
:rtype: var
"""
data = SPI.command(CMD_ANA_GET, params=[channel], returned=2)
return data[0] << 8 | data[1]
def read_all_channels(self):
"""
Reads all analog channels and returns them as a list.
:return: analog values
:rtype: list
"""
data = SPI.command(CMD_ANA_GETALL, returned=2)
return [
data[0] << 8 | data[1], data[2] << 8 | data[3],
data[4] << 8 | data[5], data[6] << 8 | data[7]
]
def read16(self, addr, reg):
"""
Read 2 bytes from an I2C device.
:param int addr: address of the I2C device.
:param int reg: register address in the I2C device
:return: 2 Bytes
:rtype: var
"""
data = SPI.command(CMD_I2C_READ16, params=[addr, reg], returned=2)
return (data[0] << 8) | data[1]
def init(self):
"""Set up the PCA9685 for driving servos."""
SPI.command(CMD_SERVO_INIT, delay=0.02)
def enable(self):
"""Turns on the servo power MOSFET, enabling all servos."""
SPI.command(CMD_SERVO_ENABLE)
def disable(self):
"""Turns off the servo power MOSFET, disabling all servos."""
SPI.command(CMD_SERVO_DISABLE)
def neutral(self):
"""Set all servos to 1500us."""
SPI.command(CMD_SERVO_NEUTRAL, delay=0.008)
def show(self):
"""Sends the pixel data from the ATmega328 to the NeoPixels."""
SPI.command(CMD_NEO_SHOW)
def disable(self):
"""
Turns off the NeoPixel MOSFET, disabling the NeoPixels.
Data is lost when pixels are disabled.
"""
SPI.command(CMD_NEO_DISABLE)
def enable(self):
"""
Turns on the NeoPixel MOSFET, enabling the NeoPixels.
Data is lost when pixels are disabled, so call show() again afterwards.
"""
SPI.command(CMD_NEO_ENABLE)