Merge branch 'main' of github.com:Open-STEM/XRP_MicroPython

Author: ksiegall

Examples/misc_examples.py

@@ -0,0 +1,79 @@
+from XRPLib.board import Board
+from machine import Timer, Pin
+import time
+
+# Get a reference to the board
+board = Board.get_default_board()
+
+# Create a timer for the RGB LED, assuming it's present on this board
+rgb_led_timer = Timer(-1)
+
+# Conversion from hue to RGB
+def hue_to_rgb(hue):
+    # Initialize RGB values
+    r = 0
+    g = 0
+    b = 0
+    
+    # Ensure hue is in range of [0,360)
+    hue %= 360
+    
+    if(hue < 120):
+        # Red to green region
+        r = (120 - hue) / 120 * 255
+        g = (hue -   0) / 120 * 255
+        b = 0
+    elif(hue < 240):
+        # Green to blue region
+        hue -= 120
+        r = 0
+        g = (120 - hue) / 120 * 255
+        b = (hue -   0) / 120 * 255
+    else:
+        # Blue to red region
+        hue -= 240
+        r = (hue -   0) / 120 * 255
+        g = 0
+        b = (120 - hue) / 120 * 255
+    
+    # Return RGB as tuple of integers in range of [0,255]
+    return (int(r), int(g), int(b))
+
+def update_rgb_led_rainbow(timer):
+    # Set hue based on current time. Hue is an angle up to 360 degrees,
+    # so using the milliseconds divided by 10 creates a rainbow that
+    # repeats every 3.6 seconds
+    hue = time.ticks_ms() / 10
+    
+    # Compute RGB values
+    rgb = hue_to_rgb(hue)
+    
+    # Max brightness is blinding, so recompute RGB values with 10% brightness
+    brightness = 0.1
+    r = int(rgb[0] * brightness)
+    g = int(rgb[1] * brightness)
+    b = int(rgb[2] * brightness)
+    
+    # Set the RGB LED color
+    board.set_rgb_led(r, g, b)
+
+def start_led_demo():
+    # Make the monochrome LED start blinking
+    board.led_blink(1)
+    
+    # If this board has an RGB LED, make it start changing colors
+    if hasattr(Pin.board, "BOARD_NEOPIXEL"):
+        # Set up timer to update the RGB LED at 100Hz for smooth color changes
+        rgb_led_timer.init(freq = 100, callback = update_rgb_led_rainbow)
+
+def stop_led_demo():
+    # Make the monochrome LED stop blinking and turn off the LED
+    board.led_blink(0)
+    board.led_off()
+    
+    # If this board has an RGB LED, stop the timer and turn off the LED
+    if hasattr(Pin.board, "BOARD_NEOPIXEL"):
+        rgb_led_timer.deinit()
+        board.set_rgb_led(0, 0, 0)
+
+start_led_demo()

Examples/__init__.py renamed to XRPExamples/__init__.py

@@ -33,7 +33,7 @@ def __init__(self, vin_pin="BOARD_VIN_MEASURE", button_pin="BOARD_USER_BUTTON",
 
         self.led = Pin(led_pin, Pin.OUT)
 
-        if "RP2350" in sys.implementation._machine:
+        if hasattr(Pin.board, rgb_led_pin):
             self.rgb_led = NeoPixel(Pin(rgb_led_pin, Pin.OUT), 1)
         # A timer ID of -1 is a virtual timer.
         # Leaves the hardware timers for more important uses
@@ -110,6 +110,16 @@ def led_blink(self, frequency: int=0):
             self.is_led_blinking = False
 
     def set_rgb_led(self, r:int, g:int, b:int):
+        """
+        Sets the Neopixel RGB LED to a specified color. Throws a NotImplementedError on the XRP Beta
+
+        :param r: The amount of red in the desired color
+        :type r: int
+        :param g: The amount of green in the desired color
+        :type g: int
+        :param b: The amount of blue in the desired color
+        :type b: int
+        """
         if "rgb_led" in self.__dict__:
             self.rgb_led[0] = (r, g, b)
             self.rgb_led.write()

Examples/drive_examples.py renamed to XRPExamples/drive_examples.py

@@ -8,19 +8,27 @@
 from .reflectance import Reflectance
 from .servo import Servo
 from .webserver import Webserver
+from machine import Pin
 
 """
 A simple file that constructs all of the default objects for the XRP robot
 Run "from XRPLib.defaults import *" to use
 """
 
-left_motor = EncodedMotor.get_default_encoded_motor(index=3)
-right_motor = EncodedMotor.get_default_encoded_motor(index=4)
+left_motor = EncodedMotor.get_default_encoded_motor(index=1)
+right_motor = EncodedMotor.get_default_encoded_motor(index=2)
+motor_three = EncodedMotor.get_default_encoded_motor(index=3)
+motor_four = EncodedMotor.get_default_encoded_motor(index=4)
 imu = IMU.get_default_imu()
 drivetrain = DifferentialDrive.get_default_differential_drive()
 rangefinder = Rangefinder.get_default_rangefinder()
 reflectance = Reflectance.get_default_reflectance()
 servo_one = Servo.get_default_servo(index=1)
 servo_two = Servo.get_default_servo(index=2)
 webserver = Webserver.get_default_webserver()
-board = Board.get_default_board()
+board = Board.get_default_board()
+
+if hasattr(Pin.board, "SERVO_3"):
+    servo_three = Servo.get_default_servo(index=3)
+if hasattr(Pin.board, "SERVO_4"):
+    servo_four = Servo.get_default_servo(index=4)