import spidev
columns = [0x1,0x2,0x3,0x4,0x5,0x6,0x7,0x8]
LEDOn = [0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF]
LEDOff = [0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0]
LEDEmoteSmile = [0x0,0x0,0x24,0x0,0x42,0x3C,0x0,0x0]
LEDEmoteSad = [0x0,0x0,0x24,0x0,0x0,0x3C,0x42,0x0]
LEDEmoteTongue = [0x0,0x0,0x24,0x0,0x42,0x3C,0xC,0x0]
LEDEmoteSurprise = [0x0,0x0,0x24,0x0,0x18,0x24,0x24,0x18]
spi = None
def setup(robot_config):
global LEDEmoteSmile
global LEDEmoteSad
global LEDEmoteTongue
global LEDEmoteSuprise
global module
global spi
#LED controlling
spi = spidev.SpiDev()
spi.open(0,0)
#VCC -> RPi Pin 2
#GND -> RPi Pin 6
#DIN -> RPi Pin 19
#CLK -> RPi Pin 23
#CS -> RPi Pin 24
# decoding:BCD
spi.writebytes([0x09])
spi.writebytes([0x00])
# Start with low brightness
spi.writebytes([0x0a])
spi.writebytes([0x03])
# scanlimit; 8 LEDs
spi.writebytes([0x0b])
spi.writebytes([0x07])
# Enter normal power-mode
spi.writebytes([0x0c])
spi.writebytes([0x01])
# Activate display
spi.writebytes([0x0f])
spi.writebytes([0x00])
rotate = robot_config.getint('max7219', 'ledrotate')
if rotate == 180:
LEDEmoteSmile = LEDEmoteSmile[::-1]
LEDEmoteSad = LEDEmoteSad[::-1]
LEDEmoteTongue = LEDEmoteTongue[::-1]
LEDEmoteSurprise = LEDEmoteSurprise[::-1]
SetLED_Off()
def SetLED_On():
for i in range(len(columns)):
spi.xfer([columns[i],LEDOn[i]])
def SetLED_Off():
for i in range(len(columns)):
spi.xfer([columns[i],LEDOff[i]])
def SetLED_E_Smiley():
for i in range(len(columns)):
spi.xfer([columns[i],LEDEmoteSmile[i]])
def SetLED_E_Sad():
for i in range(len(columns)):
spi.xfer([columns[i],LEDEmoteSad[i]])
def SetLED_E_Tongue():
for i in range(len(columns)):
spi.xfer([columns[i],LEDEmoteTongue[i]])
def SetLED_E_Surprised():
for i in range(len(columns)):
spi.xfer([columns[i],LEDEmoteSurprise[i]])
def SetLED_Low():
# brightness MIN
spi.writebytes([0x0a])
spi.writebytes([0x00])
def SetLED_Med():
#brightness MED
spi.writebytes([0x0a])
spi.writebytes([0x06])
def SetLED_Full():
# brightness MAX
spi.writebytes([0x0a])
spi.writebytes([0x0F])
def move(args):
command = args['command']
if command == 'LED_OFF':
SetLED_Off()
if command == 'LED_FULL':
SetLED_On()
SetLED_Full()
if command == 'LED_MED':
SetLED_On()
SetLED_Med()
if command == 'LED_LOW':
SetLED_On()
SetLED_Low()
if command == 'LED_E_SMILEY':
SetLED_On()
SetLED_E_Smiley()
if command == 'LED_E_SAD':
SetLED_On()
SetLED_E_Sad()
if command == 'LED_E_TONGUE':
SetLED_On()
SetLED_E_Tongue()
if command == 'LED_E_SURPRISED':
SetLED_On()
SetLED_E_Suprised()
