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Adding Addressabled LED class example #51

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Sep 29, 2022
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51 changes: 51 additions & 0 deletions addressableled/robot.py
Original file line number Diff line number Diff line change
@@ -0,0 +1,51 @@
import wpilib

kLEDBuffer = 60


class MyRobot(wpilib.TimedRobot):
def robotInit(self):
# PWM Port 9
# Must be a PWM header, not MXP or DIO
self.led = wpilib.AddressableLED(9)

# LED Data
self.ledData = [wpilib.AddressableLED.LEDData() for _ in range(kLEDBuffer)]

# Store what the last hue of the first pixel is
self.rainbowFirstPixelHue = 0

# Default to a length of 60, start empty output
# Length is expensive to set, so only set it once, then just update data
self.led.setLength(kLEDBuffer)

# Set the data
self.led.setData(self.ledData)
self.led.start()

def robotPeriodic(self):
# Fill the buffer with a rainbow
self.rainbow()

# Set the LEDs
self.led.setData(self.ledData)

def rainbow(self):
# For every pixel
for i in range(kLEDBuffer):
# Calculate the hue - hue is easier for rainbows because the color
# shape is a circle so only one value needs to precess
hue = (self.rainbowFirstPixelHue + (i * 180 / kLEDBuffer)) % 180

# Set the value
self.ledData[i].setHSV(int(hue), 255, 128)

# Increase by to make the rainbow "move"
self.rainbowFirstPixelHue += 3

# Check bounds
self.rainbowFirstPixelHue %= 180


if __name__ == "__main__":
wpilib.run(MyRobot)
1 change: 1 addition & 0 deletions run_tests.sh
Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
cd "$(dirname $0)"

BASE_TESTS="
addressableled
arcade-drive
arm-simulation
commands-v2/hatchbot
Expand Down