Adding Addressabled LED class example #51
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addressableled/robot.py
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| from wpilib import run, TimedRobot, AddressableLED | |||
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We avoid using from wpilib import ... in our examples, as it's clearer to refer to things in the top level (such as wpilib.run) via the module name. Doing this also makes it easier to build on the examples.
addressableled/robot.py
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| def robotInit(self): | ||
| # PWM Port 9 | ||
| # Must be a PWM header, not MXP or DIO | ||
| self.m_led = AddressableLED(9) |
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Our examples don't prefix member variables with m_, as the mandatory self. already implies it's a member variable.
addressableled/robot.py
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| # shape is a circle so only one value needs to precess | ||
| hue = (self.m_rainbowFirstPixelHue + (i * 180 / kLEDBuffer)) % 180 | ||
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| self.m_ledData.append(AddressableLED.LEDData()) |
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I think this will keep append to the ledData list whilst the robot code is running, forever using up more and more memory... until it eventually crashes.
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yeah
Should I run this function first at robotInit (rainbow)?
In this way, I could do an array of LEDData and it won't run every time.
addressableled/robot.py
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| self.rainbow() | ||
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| # Set the LEDs | ||
| if len(self.m_ledData) <= kLEDBuffer: |
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Why is this check necessary? This doesn't seem to exist in the Java or C++ examples.
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I am using this check because setData argument method requests an array with a length equal to or less than the buffer.
In Java examples, it is only requested without an array, so it won't be necessary to check before.
But this was initially the form that understood the Java example.
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By the way, I'm a beginner.
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In the C++ examples, they have a fixed size array, but that'll be challenging to do in python.. and Java too, which is probably why they created the AddressableLEDBuffer class.
I would initialize ledData like so:
self.ledData = [AddressableLED.LEDData() for i in range(kLEDBuffer)]Then later on you can just access self.ledData[i] instead of appending. Also removes the need for the length check.
addressableled/robot.py
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| self.m_ledData.append(AddressableLED.LEDData()) | ||
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| # Set the value | ||
| self.m_ledData[i].setHSV(int(hue), 255, 128) |
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Here, self.m_ledData[i] and i, are referenced using the index argument of setHSV.
In Java, it appears.
Here is the animation |
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Future idea: Can we have AddressableLED maintain its own internal storage to make it easier to use? |
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@TheTripleV That sounds like a bug for the wpilibc issue tracker? Java has an addressableledbuffer, but it doesn't really make things easier either. |
addressableled/robot.py
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| self.rainbowFirstPixelHue += 3 | ||
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| # Check bounds | ||
| self.rainbowFirstPixelHue %= 100 |
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thx @OliverW10
I didn't see this value 😮
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One last change needed for this: the test needs to be added to the |
Here are the results |
Issue #49 requests some WPILib examples adapted from Java.
I am adding the Addressable LED class example here.
The code has been tested only in the simulator only, and the results were: