minify

Author: CleoQc

gigglebot.py

@@ -1,139 +1,112 @@
-import neopixel
+from neopixel import NeoPixel
 import microbit
+from micropython import const
 
-GET_FIRMWARE_VERSION = 1
-# GET_MANUFACTURER = 2
-GET_BOARD = 3
-GET_VOLTAGE_BATTERY = 4
-GET_LINE_SENSORS = 5
-GET_LIGHT_SENSORS = 6
-# GET_MOTOR_STATUS_RIGHT = 7
-# GET_MOTOR_STATUS_LEFT = 8
-# SET_MOTOR_POWER = 9
-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)
+GET_FIRMWARE_VERSION = const(1)
+GET_BOARD = const(3)
+GET_VOLTAGE_BATTERY = const(4)
+GET_LINE_SENSORS = const(5)
+GET_LIGHT_SENSORS = const(6)
+SET_MOTOR_POWERS = const(10)
+LEFT = const(0)
+RIGHT = const(1)
+BOTH = const(2)
+FORWARD = const(1)
+BACKWARD = const(-1)
 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) 
+  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 _read(reg, size=8, repeat=False):
+  microbit.i2c.write(0x04, bytes([reg]), repeat)
+  outbuf = microbit.i2c.read(0x04, 1 if size==8 else 2, repeat)
+  return outbuf[0] if size==8 else 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
+  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(GET_VOLTAGE_BATTERY)/1000)
+  return (_read16(GET_VOLTAGE_BATTERY, size=16)/1000)
 
 def drive(dir=FORWARD, milliseconds=-1):
-    _write8(SET_MOTOR_POWERS, motor_power_left*dir, motor_power_right*dir)
-    if milliseconds >= 0:
-        microbit.sleep(milliseconds)
-        stop()
+  _write8(SET_MOTOR_POWERS, motor_power_left*dir, motor_power_right*dir)
+  if milliseconds >= 0:
+    microbit.sleep(milliseconds)
+    stop()
 
 def turn(dir=LEFT, milliseconds=-1):
-    if dir==LEFT:
-        _write8(SET_MOTOR_POWERS, motor_power_left, 0)
-    if dir==RIGHT:
-        _write8(SET_MOTOR_POWERS, 0, motor_power_right)
-    if milliseconds >= 0:
-        microbit.sleep(milliseconds)
-        stop()        
+  if dir==LEFT: _write8(SET_MOTOR_POWERS, motor_power_left, 0)
+  if dir==RIGHT: _write8(SET_MOTOR_POWERS, 0, motor_power_right)
+  if milliseconds >= 0:
+    microbit.sleep(milliseconds)
+    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
+  global motor_power_left, motor_power_right
+  motor_power_left = power_left
+  motor_power_right = power_right
 
 def stop():
-        _write8(SET_MOTOR_POWERS, 0, 0)
+  _write8(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)
+  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()
+  neopix = range(2,9)
+  for i in neopix: 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()
+  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(GET_VOLTAGE_BATTERY) < 3400:
-        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()
+  if _read16(GET_VOLTAGE_BATTERY, size=16) < 3400:
+    neopixelstrip[0] = (10, 0, 0)
+    neopixelstrip[1]= (10, 0, 0)
+  else:
+    neopixelstrip[0] = (0, 0, 10)
+    neopixelstrip[1]= (0, 0, 10)
+  neopixelstrip.show()
 
 def read_sensor(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)
+  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()
+  for i in range(9):
+    neopixelstrip[i] = (0,0,0)
+  neopixelstrip.show()
+ 
+def init(): 
+  stop()
+  neopixelstrip = const(NeoPixel(microbit.pin8, 9)); pixels_off()
+  eyestrip = const(NeoPixel(microbit.pin8, 2))
+  set_eye_color_on_start()