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@seveas
Forked from andywarburton/rover.py
Last active July 1, 2017 20:38
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simple script for controlling motors and lights with piborg zero motor controller and a raspberry pi
#!/usr/bin/env python
# coding: Latin-1
# Load library functions we want
from inputs import get_gamepad
import piconzero as pz
import time
import sys
import random
import colorsys
import threading
# Initiate motor controller
pz.init()
animation = None
# Control Setup
left_stick = 0.0
right_stick = 0.0
# ACTIVATE BLINKY LIGHTS
pz.setOutputConfig(5, 3)
pz.setBrightness(255)
class Animation(threading.Thread):
daemon = True
def __init__(self):
super(Animation, self).__init__()
self.style = None
def run(self, *args):
while self.running:
self.next_color()
time.sleep(self.sleeptime)
def stop(self):
self.running = False
self.join()
class Police(Animation):
colors = [(255,0,0),(0,0,255),(255,255,255)]
sleeptime = 0.2
def __init__(self):
super(Police, self).__init__()
self.index = 0
def next_color(self):
color = self.colors[self.index]
self.index = (self.index+1) % len(self.colors)
ps.setAllPixels(color)
class Rainbow(Animation)
spacing = 360.0 / 16.0
sleeptime = 0.001
def next_color(self):
# RAINBOW
hue = int(time.time() * 100) % 360
for x in range(16):
offset = x * self.spacing
h = ((hue + offset) % 360) / 360.0
r, g, b = [int(c*255) for c in colorsys.hsv_to_rgb(h, 1.0, 1.0)]
pz.setPixel(x, r, g, b)
pz.updatePixels()
class Knightrider(Animation)
REDS = [0, 0, 0, 0, 0, 16, 64, 255, 64, 16, 0, 0, 0, 0, 0]
sleeptime = 0.1
def __init__(self):
super(Knightrider, self).__init__()
start_time = time.time()
def next_color(self):
delta = (time.time() - start_time) * 16
# Triangle wave, a snappy ping-pong effect
offset = int(abs((delta % 16) - 8))
for i in range(8):
pz.setPixel(i , 0, self.REDS[offset + i], 0)
pz.updatePixels()
def np_downlights():
# DOWNLIGHTS
pz.setAllPixels(255,255,255, True)
# Controller events
try:
print('Press CTRL+C to quit')
# Loop indefinitely
while True:
events = get_gamepad()
for event in events:
print(event.code, event.state)
# face buttons
if event.code == "BTN_EAST":
if animation:
animation.stop()
animation = None
animation = Knightrider()
animation.start()
if event.code == "BTN_SOUTH":
if animation:
animation.stop()
animation = None
animation = Rainbow()
animation.start()
if event.code == "BTN_WEST":
if animation:
animation.stop()
animation = None
np_downlights()
if event.code == "BTN_NORTH":
if animation:
animation.stop()
animation = None
animation = Police()
animation.start()
# left stick
if event.code == "ABS_Y":
left_stick = event.state
if left_stick > 130:
left_stick = -(left_stick - 130)
elif left_stick < 125:
left_stick = ((-left_stick) + 125)
else:
left_stick = 0.0
print("Y: " + str(-left_stick))
# right stick
if event.code == "ABS_RZ":
right_stick = event.state
if right_stick > 130:
right_stick = -(right_stick - 130)
elif right_stick < 125:
right_stick = ((-right_stick) + 125)
else:
right_stick = 0.0
print("Y: " + str(-right_stick))
# engage the motors
power_left = int( (left_stick / 125.0) * 100)
power_right = int( (right_stick / 125.0) * 100)
pz.setMotor(0, power_left)
pz.setMotor(1, power_right)
# print(event.ev_type, event.code, event.state)
except KeyboardInterrupt:
# CTRL+C exit, disable all drives
print("stop")
pz.setAllPixels(0,0,0, True)
pz.stop()
pz.cleanup( )
print("bye")
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