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)

Examples/installation_verification.py renamed to XRPExamples/installation_verification.py

@@ -2,8 +2,6 @@
 
 class Reflectance:
 
-
-
     _DEFAULT_REFLECTANCE_INSTANCE = None
 
     @classmethod

XRPExamples/led_example.py

@@ -1,4 +1,5 @@
 from machine import Pin, PWM
+import sys
 
 class Servo:
 
@@ -24,11 +25,11 @@ def get_default_servo(cls, index:int):
             if cls._DEFAULT_SERVO_TWO_INSTANCE is None:
                 cls._DEFAULT_SERVO_TWO_INSTANCE = cls("SERVO_2")
             servo = cls._DEFAULT_SERVO_TWO_INSTANCE
-        elif index == 3:
+        elif index == 3 and hasattr(Pin.board, "SERVO_3"):
             if cls._DEFAULT_SERVO_THREE_INSTANCE is None:
                 cls._DEFAULT_SERVO_THREE_INSTANCE = cls("SERVO_3")
             servo = cls._DEFAULT_SERVO_THREE_INSTANCE
-        elif index == 4:
+        elif index == 4 and hasattr(Pin.board, "SERVO_4"):
             if cls._DEFAULT_SERVO_FOUR_INSTANCE is None:
                 cls._DEFAULT_SERVO_FOUR_INSTANCE = cls("SERVO_4")
             servo = cls._DEFAULT_SERVO_FOUR_INSTANCE

Examples/sensor_examples.py renamed to XRPExamples/sensor_examples.py

@@ -25,7 +25,7 @@ def __init__(self):
         gc.threshold(50000) # garbage collection
         self.logged_data = {}
         self.buttons = {"forwardButton":    lambda: logging.debug("Button not initialized"),
-                        "backButton":   lambda: logging.debug("Button not initialized"),
+                        "backButton":       lambda: logging.debug("Button not initialized"),
                         "leftButton":       lambda: logging.debug("Button not initialized"),
                         "rightButton":      lambda: logging.debug("Button not initialized"),
                         "stopButton":       lambda: logging.debug("Button not initialized")}

Examples/webserver_example.py renamed to XRPExamples/webserver_example.py

@@ -13,7 +13,16 @@ API Reference
 
 Hardware
 --------
-.. autoclass:: XRPLib.motor.Motor
+
+.. autoclass:: XRPLib.board.Board
+    :members:
+    :undoc-members:
+    
+.. autoclass:: XRPLib.motor.SinglePWMMotor
+    :members:
+    :undoc-members:
+
+.. autoclass:: XRPLib.motor.DualPWMMotor
     :members:
     :undoc-members:
 
@@ -55,10 +64,6 @@ Sensors
 Miscellaneous
 -------------
 
-.. autoclass:: XRPLib.board.Board
-    :members:
-    :undoc-members:
-
 .. autoclass:: XRPLib.controller.Controller
     :members:
     :undoc-members:

Examples/xrp_test.py renamed to XRPExamples/xrp_test.py

@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 
-# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries
+# SPDX-FileCopyrightText: 2023 Kevin Siegall, written for Open-STEM and the XRP Consortium
 #
 # SPDX-License-Identifier: MIT
 
@@ -26,7 +26,6 @@
     "sphinx.ext.todo",
 ]
 
-# TODO: Please Read!
 # Uncomment the below if you use native CircuitPython modules such as
 # digitalio, micropython and busio. List the modules you use. Without it, the
 # autodoc module docs will fail to generate with a warning.

XRPLib/board.py

@@ -3,18 +3,18 @@ Example Code
 
 Feel free to read through, import, and use any of the below sample code:
 
-.. literalinclude:: ../Examples/drive_examples.py
-    :caption: Examples/drive_examples.py
+.. literalinclude:: ../XRPExamples/drive_examples.py
+    :caption: XRPExamples/drive_examples.py
     :linenos:
 
-.. literalinclude:: ../Examples/sensor_examples.py
-    :caption: Examples/sensor_examples.py
+.. literalinclude:: ../XRPExamples/sensor_examples.py
+    :caption: XRPExamples/sensor_examples.py
     :linenos:
 
-.. literalinclude:: ../Examples/misc_examples.py
-    :caption: Examples/misc_examples.py
+.. literalinclude:: ../XRPExamples/led_example.py
+    :caption: XRPExamples/led_example.py
     :linenos:
 
-.. literalinclude:: ../Examples/webserver_example.py
-    :caption: Examples/webserver_example.py
+.. literalinclude:: ../XRPExamples/webserver_example.py
+    :caption: XRPExamples/webserver_example.py
     :linenos:

XRPLib/defaults.py

@@ -26,9 +26,7 @@
       ["XRPExamples/webserver_example.py", "github:Open-STEM/XRP_Micropython/Examples/webserver_example.py"]
     ],
     "deps": [
-      ["github:pimoroni/phew", "latest"],
-      ["collections-defaultdict", "latest"],
-      ["os-path", "latest"]
+      ["github:pimoroni/phew", "latest"]
     ],
     "version": "2.0.0"
   }