Merge pull request #1 from CleoQc/master

I think everything is in

Author: CleoQc

gigglebot.py

@@ -0,0 +1,140 @@
+import neopixel
+import microbit
+import time
+
+I2C_GET_FIRMWARE_VERSION = 1
+# I2C_GET_MANUFACTURER = 2
+I2C_GET_BOARD = 3
+I2C_GET_VOLTAGE_BATTERY = 4
+I2C_GET_LINE_SENSORS = 5
+I2C_GET_LIGHT_SENSORS = 6
+# I2C_GET_MOTOR_STATUS_RIGHT = 7
+# I2C_GET_MOTOR_STATUS_LEFT = 8
+# I2C_SET_MOTOR_POWER = 9
+I2C_SET_MOTOR_POWERS = 10
+LEFT = 0
+RIGHT = 1
+BOTH = 2
+FORWARD = 1
+BACKWARD = -1
+DEFAULT_EYE_COLOR = (0, 0, 10)
+LOW_VOLTAGE_EYE_COLOR = (10, 0, 0)
+motor_power_left = 50
+motor_power_right = 50
+
+def _write8(*args, repeat=False):
+    buf = bytearray(len(args))
+    buf[0] = args[0]
+    for i in range(1, len(args)):
+        buf[i] = (args[i] & 0xFF)
+    microbit.i2c.write(0x04, bytes(buf), repeat) 
+
+def _read8(reg, repeat=False):
+    microbit.i2c.write(0x04, bytes([reg]), repeat)
+    outbuf = microbit.i2c.read(0x04, 1, repeat)
+    return_value = outbuf[0]
+    return return_value
+
+def _read16(reg, repeat=False):
+    microbit.i2c.write(0x04, bytes([reg]), repeat)
+    outbuf = microbit.i2c.read(0x04, 2, repeat)
+    return outbuf[0] * 255 + outbuf[1]
+
+def _get_sensors(reg, repeat=False):
+    microbit.i2c.write(0x04, bytes([reg]), repeat)
+    outbuf = []
+    buf = microbit.i2c.read(0x04, 3, repeat)
+    outbuf.append(1023 - ( buf[0] << 2 | ((buf[2] & 0xC0) >> 6)))
+    outbuf.append(1023 - ( buf[1] << 2 | ((buf[2] & 0x30) >> 4)))
+    return outbuf
+
+def volt():
+    return (_read16(I2C_GET_VOLTAGE_BATTERY)/1000)
+
+def drive(dir=FORWARD, seconds=-1):
+    _write8(I2C_SET_MOTOR_POWERS, motor_power_left*dir, motor_power_right*dir)
+    if seconds >= 0:
+        time.sleep(seconds)
+        stop()
+
+def turn(dir=LEFT, seconds=-1):
+    if dir==LEFT:
+        _write8(I2C_SET_MOTOR_POWERS, motor_power_left, 0)
+    if dir==RIGHT:
+        _write8(I2C_SET_MOTOR_POWERS, 0, motor_power_right)
+    if seconds >= 0:
+        time.sleep(seconds)
+        stop()        
+
+def set_speed(power_left, power_right):
+    global motor_power_left, motor_power_right
+    motor_power_left = power_left
+    motor_power_right = power_right
+
+def stop():
+        _write8(I2C_SET_MOTOR_POWERS, 0, 0)
+
+def set_servo(which, degrees):
+    '''
+    Will set the left/right servo to a value between 0 and 180
+    '''
+    us = min(2400, max(600, 600 + (1800 * degrees // 180)))
+    duty = round(us * 1024 * 50 // 1000000)
+    if which == LEFT or which == BOTH:
+        microbit.pin14.set_analog_period(20)
+        microbit.pin14.write_analog(duty)
+    if which == RIGHT or which == BOTH:
+        microbit.pin13.set_analog_period(20)
+        microbit.pin13.write_analog(duty)
+        
+def servo_off(which):
+    if which == LEFT or which == BOTH:
+        microbit.pin14.write_digital(0)
+    if which == RIGHT or which == BOTH:
+        microbit.pin13.write_digital(0)
+    
+def set_smile(R=25,G=0,B=0):
+    '''
+    Like all neopixel methods, this may return a ValueError if the colors are invalid
+    '''
+    for i in range(2,9):
+        neopixelstrip[i] = (R,G,B)
+    neopixelstrip.show()
+
+def set_eyes(which=BOTH, R=0, G=0, B=10):
+    '''
+    Like all neopixel methods, this may return a ValueError if the colors are invalid
+    '''
+    if which != LEFT:
+        neopixelstrip[0] = (R,G,B)
+    if which != RIGHT:
+        neopixelstrip[1]= (R,G,B)
+    neopixelstrip.show()
+
+def set_eye_color_on_start():
+    if _read16(I2C_GET_VOLTAGE_BATTERY) < 4000:
+        neopixelstrip[0] = LOW_VOLTAGE_EYE_COLOR
+        neopixelstrip[1]= LOW_VOLTAGE_EYE_COLOR
+    else:
+        neopixelstrip[0] = DEFAULT_EYE_COLOR
+        neopixelstrip[1]= DEFAULT_EYE_COLOR
+    neopixelstrip.show()
+
+def read_sensors(which_sensor, which_side):
+    if (which_side == LEFT):
+        return _get_sensors(which_sensor)[0]
+    elif (which_side == RIGHT):
+        return _get_sensors(which_sensor)[1]
+    else:
+        return _get_sensors(which_sensor)
+
+def pixels_off():
+    for i in range(9):
+        neopixelstrip[i] = (0,0,0)
+    neopixelstrip.show()
+  
+stop()
+neopixelstrip = neopixel.NeoPixel(microbit.pin8, 9)
+pixels_off()
+eyestrip = neopixel.NeoPixel(microbit.pin8, 2)
+set_eye_color_on_start()