├── .gitignore ├── CHANGELOG ├── COPYING ├── MANIFEST.in ├── README.md ├── cblrx ├── Makefile └── src │ └── cblrx.c ├── codebug_tether ├── __init__.py ├── colourtail.py ├── core.py ├── font.py ├── i2c.py ├── platform.py ├── serial_channel_device.py ├── sprites.py └── version.py ├── docs ├── Makefile ├── conf.py ├── example.rst ├── index.rst └── installation.rst ├── examples ├── batteryChecker.py ├── binary_counter.py ├── blink.py ├── clock.py ├── colourtail.py ├── dice.py ├── randomNumber.py ├── snake.py └── tweets.py ├── firmware ├── codebug_tether_v0.4.3.cbg ├── codebug_tether_v0.5.0.cbg ├── codebug_tether_v0.6.0.cbg ├── codebug_tether_v0.7.0.cbg ├── codebug_tether_v0.7.3.cbg ├── codebug_tether_v0.8.0.cbg ├── codebug_tether_v0.8.4.cbg └── codebug_tether_v0.8.5.cbg ├── requirements.txt ├── setup.py └── tests.py /.gitignore: -------------------------------------------------------------------------------- 1 | makedebpkg.sh 2 | dpkg-files 3 | *.deb 4 | _build 5 | *.log 6 | MANIFEST 7 | deb_dist 8 | 9 | # databases 10 | *.db 11 | .ds_store 12 | *.py[cod] 13 | 14 | # C extensions 15 | *.so 16 | 17 | # Packages 18 | *.egg 19 | *.egg-info 20 | dist 21 | build 22 | eggs 23 | parts 24 | bin 25 | var 26 | sdist 27 | develop-eggs 28 | .installed.cfg 29 | lib 30 | lib64 31 | __pycache__ 32 | 33 | # Installer logs 34 | pip-log.txt 35 | 36 | # Unit test / coverage reports 37 | .coverage 38 | .tox 39 | nosetests.xml 40 | 41 | # Translations 42 | *.mo 43 | 44 | # Mr Developer 45 | .mr.developer.cfg 46 | .project 47 | .pydevproject 48 | -------------------------------------------------------------------------------- /CHANGELOG: -------------------------------------------------------------------------------- 1 | Change Log 2 | ========== 3 | 4 | v0.9.1 5 | ------ 6 | - removed conditional checking RPi version; now always uses /dev/ttyACM0 7 | 8 | v0.9.0 9 | ------ 10 | - Added `scroll_sprite` method. 11 | - Moved platform checking code to its own module. 12 | 13 | v0.8.6 14 | ------ 15 | - Fixed bug with vertical sprites not allocating the correct amount of 16 | sprite space. 17 | 18 | v0.8.5 19 | ------ 20 | - Fixed timing issue with servos and USB response. 21 | 22 | v0.8.4 23 | ------ 24 | - Default serial port is set to blank on error and added 'requires' to 25 | setup.py 26 | - Added new installation docs. 27 | - Fixed firmware bug with legs 0 and 1. 28 | 29 | v0.8.3 30 | ------ 31 | - Nicer error message for Windows/OSX. 32 | 33 | v0.8.2 34 | ------ 35 | - More robust OS and serial port check. 36 | 37 | v0.8.1 38 | ------ 39 | - Figures out default serial port for Raspberry Pi 2 and below, 40 | Raspberry Pi 3 and above and MacOS. 41 | 42 | v0.8.0 43 | ------ 44 | - Added servo support. 45 | 46 | v0.7.4 47 | ------ 48 | - Fixed a bug with io_pwm() running three times faster than it should. 49 | Fixes #15. 50 | 51 | v0.7.3 52 | ------ 53 | - Fixed a bug with colourtail timing issue in the firmware. 54 | 55 | v0.7.2 56 | ------ 57 | - Fixed a bug with colourtail using the new set_bulk. 58 | 59 | v0.7.1 60 | ------ 61 | - Fixed a bug with set_bulk and updated tests. 62 | 63 | v0.7.0 64 | ------ 65 | - Fixed bytes error in serial_channel_device -- and/or/bulk commands 66 | work again. 67 | - Added support for analogue inputs and PWM. 68 | 69 | v0.6.1 70 | ------ 71 | - Fixed error with `set_pullup`. Fixes issue #14. 72 | 73 | v0.6.0 74 | ------ 75 | - Added UART support. 76 | 77 | v0.5.0 78 | ------ 79 | - Updated packet layer, better support for bulk commands and AND/OR masks. 80 | - Added extension pin control. 81 | - Added I2C/SPI support. 82 | - Added Colour Tail (WS2812) support. 83 | 84 | v0.4.3 85 | ------ 86 | - Updated docs. 87 | 88 | v0.4.2 89 | ------ 90 | - Fixed `set_output()` but where setting value of one leg would reset 91 | the other legs. 92 | 93 | v0.4.1 94 | ------ 95 | - Added timeout to serial initialisation and updated charmap `led_state` 96 | to `pixel_state` to match previous change. 97 | - Added `set_leg_io` method. 98 | 99 | v0.4.0 100 | ------ 101 | - Changed led -> pixel 102 | 103 | v0.3.0 104 | ------ 105 | - Removed confusing channel list. 106 | - Ready for release on GitHub. 107 | 108 | v0.2.0 109 | ------ 110 | - Added and_mask into set packets. 111 | 112 | v0.1.2 113 | ------ 114 | - Added some more examples. 115 | - Updated the readme. 116 | 117 | v0.1.1 118 | ------ 119 | - Fixed CodeBug.get_input(). 120 | 121 | v0.1.0 122 | ------ 123 | - Inital dev release. 124 | 125 | -------------------------------------------------------------------------------- /COPYING: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. 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If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /MANIFEST.in: -------------------------------------------------------------------------------- 1 | include README.md 2 | include CHANGELOG -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | CodeBug Tether 2 | ============== 3 | Control CodeBug in tethered mode over Serial USB. 4 | 5 | Documentation: http://codebug-tether.readthedocs.org/ 6 | 7 | Features: 8 | 9 | - LED control 10 | - Inputs/Outputs (legs, buttons, extension pins) 11 | - Input/Output configuration (direction and pullups) 12 | - Extension pin control (I/O, SPI, I2C) 13 | 14 | 15 | Updating Notes 16 | -------------- 17 | Be sure to update the version number in: 18 | 19 | codebug_tether/version.py 20 | CHANGELOG 21 | docs/conf.py 22 | -------------------------------------------------------------------------------- /cblrx/Makefile: -------------------------------------------------------------------------------- 1 | PROJECT=cblrx 2 | SOURCES=src/cblrx.c 3 | LIBRARY= 4 | INCPATHS= 5 | LIBPATHS= 6 | LDFLAGS= 7 | CFLAGS=-c -Wall 8 | CC=gcc 9 | 10 | # ------------ MAGIC BEGINS HERE ------------- 11 | 12 | # Automatic generation of some important lists 13 | OBJECTS=$(SOURCES:.c=.o) 14 | INCFLAGS=$(foreach TMP,$(INCPATHS),-I$(TMP)) 15 | LIBFLAGS=$(foreach TMP,$(LIBPATHS),-L$(TMP)) 16 | 17 | # Set up the output file names for the different output types 18 | ifeq "$(LIBRARY)" "shared" 19 | BINARY=lib$(PROJECT).so 20 | LDFLAGS += -shared 21 | else ifeq "$(LIBRARY)" "static" 22 | BINARY=lib$(PROJECT).a 23 | else 24 | BINARY=$(PROJECT) 25 | endif 26 | 27 | all: $(SOURCES) $(BINARY) 28 | 29 | $(BINARY): $(OBJECTS) 30 | # Link the object files, or archive into a static library 31 | ifeq "$(LIBRARY)" "static" 32 | ar rcs $(BINARY) $(OBJECTS) 33 | else 34 | $(CC) $(LIBFLAGS) $(OBJECTS) $(LDFLAGS) -o $@ 35 | endif 36 | 37 | .c.o: 38 | $(CC) $(INCFLAGS) $(CFLAGS) -fPIC $< -o $@ 39 | 40 | distclean: clean 41 | rm -f $(BINARY) 42 | 43 | clean: 44 | rm -f $(OBJECTS) -------------------------------------------------------------------------------- /cblrx/src/cblrx.c: -------------------------------------------------------------------------------- 1 | // stdlib requires this before #define or segfault on ptsname 2 | #define _XOPEN_SOURCE 600 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | 11 | #define PKT_BUF_SIZE 256 12 | 13 | #define CMD_ID(b) ((b >> 5) & 0x7) 14 | // #define CMD_ID_FILTER 0xE0 // top three bits is cmd_id 15 | #define CMD_ID_GET 0 16 | #define CMD_ID_SET 1 17 | #define CMD_ID_GET_BULK 2 18 | #define CMD_ID_SET_BULK 3 19 | #define CMD_ID_READ 4 20 | #define CMD_ID_WRITE 5 21 | #define CMD_ID_ACK 6 22 | 23 | #define CH_INDEX(b) ((b >> 2) & 0x7) 24 | #define OR_MASK(b) ((b >> 1) & 0x1) 25 | 26 | 27 | char rows[7] = {0, 0, 0, 0, 0, 0, 0}; 28 | 29 | 30 | int openpt(void); 31 | char get_channel(int i); 32 | void set_channel(int i, char v, char or_mask); 33 | void draw_codebug(void); 34 | void send_ack(int fd); 35 | 36 | 37 | int main(void) 38 | { 39 | // some useful vars 40 | char cv; // channel value 41 | char buf[PKT_BUF_SIZE]; 42 | int start_ch, i, len,read_count; 43 | 44 | int fd = openpt(); 45 | if (fd < 0) { 46 | return 1; 47 | } 48 | 49 | printf("Fake CodeBug serial port is: %s\n", ptsname(fd)); 50 | 51 | while (1) { 52 | // get first byte of packet 53 | read_count = read(fd, buf, PKT_BUF_SIZE); 54 | if (read_count < 0) { 55 | fprintf(stderr, "%s\n", strerror(errno)); 56 | break; 57 | } 58 | 59 | // act accordingly 60 | switch (CMD_ID(buf[0])) { 61 | case CMD_ID_GET: 62 | // get and return channel value 63 | cv = get_channel(CH_INDEX(buf[0])); 64 | write(fd, &cv, 1); 65 | break; 66 | 67 | case CMD_ID_SET: 68 | set_channel(CH_INDEX(buf[0]), buf[1], OR_MASK(buf[0])); 69 | send_ack(fd); 70 | break; 71 | 72 | case CMD_ID_GET_BULK: 73 | start_ch = CH_INDEX(buf[0]); 74 | len = buf[1]; 75 | for (i = 0; i < len; i++) { 76 | buf[i] = get_channel(start_ch+i); 77 | } 78 | write(fd, buf, len); 79 | break; 80 | 81 | case CMD_ID_SET_BULK: 82 | start_ch = CH_INDEX(buf[0]); 83 | len = buf[1]; 84 | for (i = 0; i < len; i++) { 85 | set_channel(start_ch+i, buf[2+i], OR_MASK(buf[0])); 86 | } 87 | send_ack(fd); 88 | break; 89 | 90 | case CMD_ID_READ: 91 | printf("cmd: CMD_ID_READ\n"); 92 | break; 93 | 94 | case CMD_ID_WRITE: 95 | printf("cmd: CMD_ID_WRITE\n"); 96 | break; 97 | 98 | default: 99 | printf("ERR:Could not determine cmd.\n"); 100 | return 1; 101 | } 102 | 103 | // displaying 'leds' 104 | system("clear"); 105 | draw_codebug(); 106 | } 107 | 108 | return 0; 109 | } 110 | 111 | int openpt(void) 112 | { 113 | int fd = posix_openpt(O_RDWR); 114 | if (fd < 0) { 115 | fprintf(stderr, "Error %d on posix_openpt()\n", errno); 116 | return -1; 117 | } 118 | 119 | // using read_count here becasue we don't need it yet 120 | if (grantpt(fd) != 0) { 121 | fprintf(stderr, "Error %d on grantpt()\n", errno); 122 | return -1; 123 | } 124 | 125 | if (unlockpt(fd) != 0) { 126 | fprintf(stderr, "Error %d on unlockpt()\n", errno); 127 | return -1; 128 | } 129 | 130 | return fd; 131 | } 132 | 133 | char get_channel(int i) 134 | { 135 | return rows[i] & 0x1f; // get_row 136 | } 137 | 138 | void set_channel(int i, char v, char or_mask) 139 | { 140 | if (or_mask) { 141 | v |= get_channel(i); 142 | } 143 | rows[i] = v & 0x1f; // set_row 144 | } 145 | 146 | void draw_codebug(void) 147 | { 148 | int i, j; 149 | char row[6] = {0, 0, 0, 0, 0, 0}; // sixth is EOL 150 | for (i = 4; i >= 0; i--) { 151 | for (j = 0; j <= 4; j++) { 152 | row[4-j] = (rows[i] >> j) & 1 ? '#' : '-'; 153 | } 154 | printf("%s\n", row); 155 | } 156 | } 157 | 158 | void send_ack(int fd) 159 | { 160 | const char ack_pkt = CMD_ID_ACK << 5; 161 | write(fd, &ack_pkt, 1); 162 | } 163 | -------------------------------------------------------------------------------- /codebug_tether/__init__.py: -------------------------------------------------------------------------------- 1 | from codebug_tether.core import (CodeBug, 2 | IO_DIGITAL_OUTPUT, 3 | IO_DIGITAL_INPUT, 4 | IO_ANALOGUE_INPUT, 5 | IO_PWM_OUTPUT, 6 | T2_PS_1_1, 7 | T2_PS_1_4, 8 | T2_PS_1_16, 9 | scale) 10 | -------------------------------------------------------------------------------- /codebug_tether/colourtail.py: -------------------------------------------------------------------------------- 1 | """Colour tails interface for CodeBug.""" 2 | from collections import namedtuple 3 | from codebug_tether.core import (CHANNEL_INDEX_COLOURTAIL_LENGTH, 4 | CHANNEL_INDEX_COLOURTAIL_CONTROL) 5 | 6 | 7 | # control 8 | # bit 1 9 | COLOURTAIL_CONTROL_GO_BUSY = 0x01 10 | # bit 2 11 | COLOURTAIL_CONTROL_INIT_NOT_UPDATE = 0x02 12 | # bit 3-8 (init bits - only work when COLOURTAIL_CONTROL_INIT_NOT_UPDATE == 1) 13 | COLOURTAIL_CONTROL_LEG0_NOT_CS = 0x04 14 | 15 | PIXEL_BUFFER_SIZE = 50 16 | 17 | 18 | RGBPixel = namedtuple('RGBPixel', ['red', 'green', 'blue']) 19 | 20 | 21 | class CodeBugColourTail(): 22 | """CodeBugColourTail stores and sends RGB pixel values to a connected 23 | CodeBug Colour Tail (strip of WS2812s). 24 | 25 | You can use either the CS pin on the extension port or leg 0 to output 26 | colour tail value. 27 | 28 | Example use: 29 | 30 | from codebug_tether import CodeBug 31 | from codebug_tether.colourtail import CodeBugColourTail 32 | 33 | codebug = CodeBug() 34 | colourtail = CodeBugColourTail(codebug) 35 | 36 | # using CS pin 37 | colourtail.init() 38 | colourtail.set_pixel(0, 255, 0, 0) # red 39 | colourtail.set_pixel(1, 0, 255, 0) # green 40 | colourtail.set_pixel(2, 0, 0, 255) # blue 41 | colourtail.update() # turn on the LEDs 42 | 43 | # use leg 0 instead 44 | colourtail.init(use_leg_0_not_cs=True) 45 | colourtail.update() 46 | 47 | You can set the pixel buffer manually like so: 48 | 49 | from codebug_tether import CodeBug 50 | from codebug_tether.colourtail import (CodeBugColourTail, RGBPixel) 51 | 52 | codebug = CodeBug() 53 | colourtail = CodeBugColourTail(codebug) 54 | 55 | # using CS pin 56 | colourtail.init() 57 | colourtail.pixel_buffer[0] = RGBPixel(255, 0, 0) 58 | colourtail.pixel_buffer[1] = RGBPixel(0, 255, 0) 59 | colourtail.pixel_buffer[1] = RGBPixel(0, 0, 255) 60 | colourtail.update() # turn on the LEDs 61 | 62 | """ 63 | 64 | pixel_buffer = [RGBPixel(0, 0, 0)]*PIXEL_BUFFER_SIZE 65 | 66 | def __init__(self, codebug): 67 | self.codebug = codebug 68 | 69 | def init(self, use_leg_0_not_cs=False): 70 | control = (COLOURTAIL_CONTROL_GO_BUSY | 71 | COLOURTAIL_CONTROL_INIT_NOT_UPDATE) 72 | if use_leg_0_not_cs: 73 | control |= COLOURTAIL_CONTROL_LEG0_NOT_CS 74 | self.codebug.set(CHANNEL_INDEX_COLOURTAIL_CONTROL, control) 75 | 76 | def get_pixel(self, index): 77 | return self.pixel_buffer[index] 78 | 79 | def set_pixel(self, index, red, green, blue): 80 | self.pixel_buffer[index] = RGBPixel(red=red, green=green, blue=blue) 81 | 82 | def update(self): 83 | # WS2812 order is green, red, blue 84 | codebug_buffer = [value 85 | for pixel in self.pixel_buffer[:PIXEL_BUFFER_SIZE] 86 | for value in (pixel.green, pixel.red, pixel.blue)] 87 | control = COLOURTAIL_CONTROL_GO_BUSY 88 | self.codebug.set_buffer(0, bytes(codebug_buffer)) 89 | self.codebug.set_bulk(CHANNEL_INDEX_COLOURTAIL_LENGTH, 90 | bytes((len(self.pixel_buffer), control))) 91 | -------------------------------------------------------------------------------- /codebug_tether/core.py: -------------------------------------------------------------------------------- 1 | from __future__ import print_function 2 | import time 3 | import serial 4 | import struct 5 | from .i2c import * 6 | from .serial_channel_device import SerialChannelDevice 7 | from .platform import get_platform_serial_port 8 | 9 | 10 | DEFAULT_SERIAL_PORT = get_platform_serial_port() 11 | 12 | IO_DIGITAL_OUTPUT = 0 13 | IO_DIGITAL_INPUT = 1 14 | IO_ANALOGUE_INPUT = 2 15 | IO_PWM_OUTPUT = 3 16 | 17 | # CHANNEL_INDEX_ROW_0 = 0 18 | # CHANNEL_INDEX_ROW_1 = 1 19 | # CHANNEL_INDEX_ROW_2 = 2 20 | # CHANNEL_INDEX_ROW_3 = 3 21 | # CHANNEL_INDEX_ROW_4 = 4 22 | (CHANNEL_INDEX_OUTPUT, 23 | CHANNEL_INDEX_LEG_INPUT, 24 | CHANNEL_INDEX_BUTTON_INPUT, 25 | CHANNEL_INDEX_ANALOGUE_CONF, 26 | CHANNEL_INDEX_ANALOGUE_INPUT, 27 | CHANNEL_INDEX_IO_DIRECTION_LEGS, 28 | CHANNEL_INDEX_IO_DIRECTION_EXT, 29 | CHANNEL_INDEX_PULLUPS, 30 | CHANNEL_INDEX_EXT_CONF, 31 | CHANNEL_INDEX_SPI_RATE, 32 | CHANNEL_INDEX_SPI_LENGTH, 33 | CHANNEL_INDEX_SPI_CONTROL, 34 | CHANNEL_INDEX_I2C_ADDR, 35 | CHANNEL_INDEX_I2C_LENGTH, 36 | CHANNEL_INDEX_I2C_CONTROL, 37 | CHANNEL_INDEX_UART_RX_OFFSET, 38 | CHANNEL_INDEX_UART_RX_LENGTH, 39 | CHANNEL_INDEX_UART_TX_OFFSET, 40 | CHANNEL_INDEX_UART_TX_LENGTH, 41 | CHANNEL_INDEX_UART_CONTROL, 42 | CHANNEL_INDEX_COLOURTAIL_LENGTH, 43 | CHANNEL_INDEX_COLOURTAIL_CONTROL, 44 | CHANNEL_INDEX_PWM_CONF_0, 45 | CHANNEL_INDEX_PWM_CONF_1, 46 | CHANNEL_INDEX_PWM_CONF_2, 47 | CHANNEL_INDEX_SERVO_PULSE_LENGTH, 48 | CHANNEL_INDEX_SERVO_CONF) = range(5, 32) 49 | 50 | EXTENSION_CONF_IO = 0x01 51 | EXTENSION_CONF_SPI = 0x02 52 | EXTENSION_CONF_I2C = 0x04 53 | EXTENSION_CONF_UART = 0x08 54 | 55 | UART_TX_BUFFER_INDEX = 0 56 | UART_RX_BUFFER_INDEX = 1 57 | 58 | UART_TX_GO_BUSY_MASK = 0x01 59 | UART_RX_GO_BUSY_MASK = 0x02 60 | UART_BAUD_300 = 0 << 2 61 | UART_BAUD_1200 = 1 << 2 62 | UART_BAUD_2400 = 2 << 2 63 | UART_BAUD_9600 = 3 << 2 64 | UART_BAUD_10417 = 4 << 2 65 | UART_BAUD_19200 = 5 << 2 66 | UART_BAUD_57600 = 6 << 2 67 | UART_BAUD_115200 = 7 << 2 68 | 69 | UART_DEFAULT_BAUD = 9600 70 | 71 | T2_PS_1_1 = 0 72 | T2_PS_1_4 = 1 73 | T2_PS_1_16 = 2 74 | 75 | 76 | class InvalidBaud(Exception): 77 | pass 78 | 79 | 80 | class CodeBug(SerialChannelDevice): 81 | """Manipulates CodeBug over a USB serial connection.""" 82 | 83 | def __init__(self, serial_port=DEFAULT_SERIAL_PORT): 84 | super(CodeBug, self).__init__(serial.Serial(serial_port, timeout=2)) 85 | 86 | def _int_input_index(self, input_index): 87 | """Returns an integer input index.""" 88 | # 'A' is 8, 'B' is 9 89 | if isinstance(input_index, str): 90 | input_index = 8 if 'a' in input_index.lower() else 9 91 | return input_index 92 | 93 | def get_input(self, input_index): 94 | """Returns the state of an input. You can use 'A' and 'B' to 95 | access buttons A and B. 96 | 97 | >>> codebug = CodeBug() 98 | >>> codebug.get_input('A') # switch A is pressed 99 | 1 100 | >>> codebug.get_input(0) # assuming leg 0 is connected to GND 101 | 0 102 | >>> codebug.get_input(4) # extension I/O pin 4 is connected to GND 103 | 0 104 | 105 | """ 106 | input_index = self._int_input_index(input_index) 107 | if input_index > 7: 108 | channel_index = CHANNEL_INDEX_BUTTON_INPUT 109 | input_index -= 8 110 | else: 111 | channel_index = CHANNEL_INDEX_LEG_INPUT 112 | return self.get_bit(channel_index, input_index) 113 | 114 | def read_analogue(self, leg_index): 115 | """Reads the analogue value of the leg at leg_index. The leg must 116 | first be configured as an analogue input. For example: 117 | 118 | >>> codebug = CodeBug() 119 | >>> codebug.set_leg_io(0, IO_ANALOG_INPUT) 120 | >>> codebug.read_analogue(0) 121 | 128 122 | 123 | """ 124 | # set which leg to read (and do the read) 125 | self.set(CHANNEL_INDEX_ANALOGUE_CONF, leg_index) 126 | # return the value 127 | analogue_value = self.get(CHANNEL_INDEX_ANALOGUE_INPUT) 128 | return struct.unpack('B', analogue_value)[0] 129 | 130 | def set_pullup(self, input_index, state): 131 | """Sets the state of the input pullups. Turn off to enable touch 132 | sensitive pads (bridge GND and input with fingers). 133 | 134 | >>> codebug = CodeBug() 135 | >>> codebug.set_pullup(0, 1) # input pad 0 <10K OHMS 136 | >>> codebug.set_pullup(2, 0) # input pad 2 <22M OHMS touch sensitive 137 | 138 | """ 139 | input_index = self._int_input_index(input_index) 140 | self.set_bit(CHANNEL_INDEX_PULLUPS, input_index, state) 141 | 142 | def set_output(self, output_index, state): 143 | """Sets the output index to state.""" 144 | self.set_bit(CHANNEL_INDEX_OUTPUT, output_index, state) 145 | 146 | def get_output(self, output_index): 147 | """Returns the state of the output at index.""" 148 | return self.get_bit(CHANNEL_INDEX_OUTPUT, output_index) 149 | 150 | def set_leg_io(self, leg_index, direction): 151 | """Sets the I/O direction of the leg at index. For example: 152 | 153 | >>> codebug = CodeBug() 154 | >>> codebug.set_leg_io(0, IO_DIGITAL_OUTPUT) 155 | >>> codebug.set_leg_io(0, IO_PWM_OUTPUT) 156 | >>> codebug.set_leg_io(1, IO_DIGITAL_INPUT) 157 | >>> codebug.set_leg_io(2, IO_ANALOG_INPUT) 158 | 159 | """ 160 | if leg_index < 4: 161 | clear_mask = 0xff ^ (0b11 << leg_index * 2) 162 | direction_mask = (0b11 & direction) << leg_index * 2 163 | self.and_mask(CHANNEL_INDEX_IO_DIRECTION_LEGS, clear_mask) 164 | self.or_mask(CHANNEL_INDEX_IO_DIRECTION_LEGS, direction_mask) 165 | else: 166 | ext_index = leg_index - 4 167 | clear_mask = 0b11 << ext_index * 2 168 | direction_mask = (0b11 & direction) << ext_index * 2 169 | self.and_mask(CHANNEL_INDEX_IO_DIRECTION_EXT, clear_mask) 170 | self.or_mask(CHANNEL_INDEX_IO_DIRECTION_EXT, direction_mask) 171 | 172 | def pwm_on(self, t2_prescale, full_period, on_period): 173 | """Turns on the PWM generator with the given settings. 174 | 175 | Args: 176 | t2_prescale: One of T2_PS_1_1, T2_PS_1_4, T2_PS_1_16 177 | Scales down the 12MHz instruction clock by 178 | 1, 4 or 16. 179 | full_period: 8-bit value - which is scaled up to 10-bits 180 | (<< 2) - to which timer 2 will count up to 181 | before resetting PWM output to 1. 182 | on_period: 10-bit value to which timer 2 will count up to 183 | before setting PWM output to 0. Use this with 184 | full_period to control duty cycle. For example: 185 | 186 | # 12MHz / 16 with 50% duty cycle 187 | codebug.pwm_on(T2_PS_1_16, 0xff, 0x200) 188 | 189 | """ 190 | # full period 191 | self.set(CHANNEL_INDEX_PWM_CONF_0, full_period) 192 | self.set(CHANNEL_INDEX_PWM_CONF_1, on_period & 0xff) 193 | go_busy = 1 194 | top_two_bit_on_period = (on_period >> 8) & 0b11 195 | conf = go_busy << 4 | t2_prescale << 2 | top_two_bit_on_period 196 | self.set(CHANNEL_INDEX_PWM_CONF_2, conf) 197 | 198 | def pwm_freq(self, frequency): 199 | """Turns on the PWM generator with the given frequency. For example: 200 | 201 | >>> codebug = CodeBug() 202 | >>> codebug.set_leg_io(0, IO_PWM_OUTPUT) 203 | >>> codebug.pwm_freq(1046) 204 | >>> time.sleep(2) 205 | >>> codebug.pwm_off() 206 | 207 | """ 208 | # calculate pwm settings 209 | # 12MHz / 16 = 750k ticks per second 210 | full_period = int(750000 / frequency) - 1 211 | # for 50% duty cycle: shift up by 2 then /(2 i.e. 50% duty cycle) 212 | # on_period = (full_period << 2) / 2; 213 | # this is quicker 214 | on_period = full_period << 1 215 | self.pwm_on(T2_PS_1_16, full_period, on_period) 216 | 217 | def pwm_off(self): 218 | """Turns off the PWM generator.""" 219 | go_busy_off_mask = 0xff ^ (1 << 4) 220 | self.and_mask(CHANNEL_INDEX_PWM_CONF_2, go_busy_off_mask) 221 | 222 | def servo_set(self, servo_index, pulse_length): 223 | """Set the servo at servo_index to pulse_length. Make sure that 224 | the leg is configured as IO_DIGITAL_OUTPUT (0). 225 | """ 226 | pulse_length_msb = 0xff & (pulse_length >> 8) 227 | pulse_length_lsb = 0xff & pulse_length 228 | conf_msb = ((servo_index & 0xf) << 4) | 0x01 229 | conf_lsb = ((servo_index & 0xf) << 4) | 0x00 230 | self.set_bulk(CHANNEL_INDEX_SERVO_PULSE_LENGTH, 231 | bytes([pulse_length_msb, conf_msb])) 232 | self.set_bulk(CHANNEL_INDEX_SERVO_PULSE_LENGTH, 233 | bytes([pulse_length_lsb, conf_lsb])) 234 | 235 | def clear(self): 236 | """Clears the pixels on CodeBug. 237 | 238 | >>> codebug = CodeBug() 239 | >>> codebug.clear() 240 | 241 | """ 242 | self.set_bulk(0, bytes([0]*5)) 243 | 244 | def fill(self): 245 | """Sets all pixels on. 246 | 247 | >>> codebug = CodeBug() 248 | >>> codebug.fill() 249 | 250 | """ 251 | self.set_bulk(0, bytes([0x1f]*5)) 252 | 253 | def set_row(self, row, val): 254 | """Sets a row of PIXELs on CodeBug. 255 | 256 | >>> codebug = CodeBug() 257 | >>> codebug.set_row(0, 0b10101) 258 | 259 | """ 260 | self.set(row, val) 261 | 262 | def get_row(self, row): 263 | """Returns a row of pixels on CodeBug. 264 | 265 | >>> codebug = CodeBug() 266 | >>> codebug.get_row(0) 267 | 21 268 | 269 | """ 270 | row = self.get(min(row, 5)) # only row channels 271 | return struct.unpack('B', row)[0] 272 | 273 | def set_col(self, col, val): 274 | """Sets an entire column of PIXELs on CodeBug. 275 | 276 | >>> codebug = CodeBug() 277 | >>> codebug.set_col(0, 0b10101) 278 | 279 | """ 280 | rows = struct.unpack('B'*5, self.get_bulk(0, 5)) 281 | # clear col 282 | rows = [rows[i] & (0xff ^ (1 << (4-col))) for i in range(5)] 283 | # set cols 284 | val_bits = [(val >> i) & 1 for i in reversed(range(5))] 285 | rows = [rows[i] | (bit << (4-col)) for i, bit in enumerate(val_bits)] 286 | self.set_bulk(0, bytes(rows)) 287 | 288 | def get_col(self, col): 289 | """Returns an entire column of PIXELs on CodeBug. 290 | 291 | >>> codebug = CodeBug() 292 | >>> codebug.get_col(0) 293 | 21 294 | 295 | """ 296 | rows = struct.unpack('B'*5, self.get_bulk(0, 5)) 297 | c = 0 298 | for row in rows: 299 | c <<= 1 300 | col_bit = 1 & (row >> (4 - col)) 301 | c |= col_bit 302 | return c 303 | 304 | def set_pixel(self, x, y, state): 305 | """Sets an PIXEL on CodeBug. 306 | 307 | >>> codebug = CodeBug() 308 | >>> codebug.set_pixel(0, 0, 1) 309 | 310 | """ 311 | channel = min(y, 5) # only row channels 312 | bit_index = 4 - x 313 | self.set_bit(channel, bit_index, state) 314 | 315 | def get_pixel(self, x, y): 316 | """Returns the state of an PIXEL on CodeBug. 317 | 318 | >>> codebug = CodeBug() 319 | >>> codebug.get_pixel(0, 0) 320 | 1 321 | 322 | """ 323 | channel = min(y, 5) 324 | bit_index = 4 - x 325 | return self.get_bit(channel, bit_index) 326 | 327 | def draw_sprite(self, x, y, sprite, clear_first=True): 328 | """Draws a sprite at (x, y) on CodeBug's 5x5 display.""" 329 | cb_display_sprite = sprite.get_sprite(-x, -y, 5, 5) 330 | cb_rows = [cb_display_sprite.get_row(y) 331 | for y in range(cb_display_sprite.height)] 332 | if clear_first: 333 | self.set_bulk(0, bytes(cb_rows)) 334 | else: 335 | for i, row in enumerate(cb_rows): 336 | self.or_mask(i, bytes(row)) 337 | 338 | def scroll_sprite(self, sprite, interval=0.1, direction='L'): 339 | """Scrolls a sprite. 340 | 341 | Args: 342 | sprite: The sprite to scroll. 343 | interval: The time delay between each movement in seconds. 344 | (optional) 345 | direction: The direction of the scroll ('L', 'R', 'U', 'D'). 346 | 347 | """ 348 | direction = direction.upper()[0] # only take the first char 349 | if direction == 'L': 350 | for i in range(sprite.width+5): 351 | self.draw_sprite(5-i, 0, sprite) 352 | time.sleep(interval) 353 | elif direction == 'D': 354 | for i in range(sprite.height+5): 355 | self.draw_sprite(0, 5-i, sprite) 356 | time.sleep(interval) 357 | elif direction == 'R': 358 | for i in reversed(range(sprite.width+5)): 359 | self.draw_sprite(5-i, 0, sprite) 360 | time.sleep(interval) 361 | elif direction == 'U': 362 | for i in reversed(range(sprite.height+5)): 363 | self.draw_sprite(0, 5-i, sprite) 364 | time.sleep(interval) 365 | 366 | def config_extension_io(self): 367 | self.set(CHANNEL_INDEX_EXT_CONF, EXTENSION_CONF_IO) 368 | 369 | def config_extension_spi(self): 370 | self.set(CHANNEL_INDEX_EXT_CONF, EXTENSION_CONF_SPI) 371 | 372 | def config_extension_i2c(self): 373 | self.set(CHANNEL_INDEX_EXT_CONF, EXTENSION_CONF_I2C) 374 | 375 | def config_extension_uart(self): 376 | self.set(CHANNEL_INDEX_EXT_CONF, EXTENSION_CONF_UART) 377 | 378 | def spi_transaction(self, 379 | data, 380 | cs_idle_high=1, 381 | input_sample_middle=1, 382 | spi_mode=0): 383 | """Run an SPI transaction using the extensions pins. Be sure to 384 | configure the extension pins first. 385 | 386 | Example: 387 | 388 | >>> import codebug_tether 389 | >>> 390 | >>> # setup 391 | >>> codebug = codebug_tether.CodeBug() 392 | >>> codebug.config_extension_spi() 393 | >>> 394 | >>> # transaction 395 | >>> tx = bytes((0x01, 0x02, 0x03)) # transmit this data 396 | >>> rx = codebug.spi_transaction(tx) # transaction returns data 397 | >>> print(rx) 398 | b'\xff\xff\xff' 399 | 400 | """ 401 | # control channel 402 | spi_mode = (spi_mode & 0x03) << 3 403 | input_sample_middle = (input_sample_middle & 1) << 2 404 | cs_idle_high = (cs_idle_high & 1) << 1 405 | go = 0x01 406 | control = spi_mode | input_sample_middle | cs_idle_high | go 407 | # put data into the buffer 408 | self.set_buffer(0, bytes(list(data))) 409 | # set the length and control channels in one go 410 | self.set_bulk(CHANNEL_INDEX_SPI_LENGTH, bytes([len(data), control])) 411 | # return data from buffer 412 | return self.get_buffer(0, len(data)) 413 | 414 | def i2c_transaction(self, 415 | *messages, 416 | add_stop_last_message=True, 417 | interval=0): 418 | """Run an I2C transaction using the extensions pins. Be sure to 419 | configure the extension pins first. 420 | 421 | Args: 422 | messages: The I2C messages. 423 | add_stop_last_message: Adds stop flag to the last 424 | I2CMessage. 425 | interval: Adds delay of `interval` seconds between I2C 426 | messages. 427 | 428 | Example: 429 | 430 | >>> import codebug_tether 431 | >>> from codebug_tether.i2c import (reading, writing) 432 | >>> 433 | >>> # example I2C address 434 | >>> i2c_addr = 0x1C 435 | >>> 436 | >>> # setup 437 | >>> codebug = codebug_tether.CodeBug() 438 | >>> codebug.config_extension_i2c() 439 | 440 | Single byte read transaction (read reg 0x12) 441 | 442 | >>> codebug.i2c_transaction(writing(i2c_addr, 0x12), # reg addr 443 | reading(i2c_addr, 1)) # read 1 reg 444 | (42,) 445 | 446 | Multiple byte read transaction (read regs 0x12-0x17) 447 | 448 | >>> codebug.i2c_transaction(writing(i2c_addr, 0x12), # reg addr 449 | reading(i2c_addr, 6)) # read 6 reg 450 | (65, 87, 47, 91, 43, 60) 451 | 452 | Single byte write transaction (write value 0x34 to reg 0x12) 453 | 454 | >>> codebug.i2c_transaction(writing(i2c_addr, 0x12, 0x34)) 455 | 456 | Multiple byte write transaction 457 | (write values 0x34, 0x56, 0x78 to reg 0x12) 458 | 459 | >>> codebug.i2c_transaction( 460 | writing(i2c_addr, 0x12, 0x34, 0x56, 0x78)) 461 | 462 | """ 463 | # Can't use a tuple here because `+=` inside `send_msg` implicitly 464 | # declares rx_buffer as a local variable (to send_msg). 465 | rx_buffer = list() 466 | 467 | def send_msg(msg): 468 | """Sends a single i2c message.""" 469 | # print("send_msg") 470 | # print("address", hex(msg.address)) 471 | # print("msg.data", msg.data) 472 | # print("length", msg.length) 473 | # print("control", bin(msg.control)) 474 | # print() 475 | self.set_buffer(0, bytes(msg.data)) 476 | # set the i2c address, length and control all in one go 477 | self.set_bulk(CHANNEL_INDEX_I2C_ADDR, 478 | bytes([msg.address, msg.length, msg.control])) 479 | # if reading, add data to rx_buffer 480 | if msg.control & I2C_CONTROL_READ_NOT_WRITE: 481 | values = struct.unpack('B'*msg.length, 482 | self.get_buffer(0, msg.length)) 483 | rx_buffer.extend(values) 484 | time.sleep(interval) 485 | 486 | if add_stop_last_message: 487 | # send all messages except for the last one 488 | for message in messages[:-1]: 489 | send_msg(message) 490 | 491 | # add stop control flag to the last message 492 | messages[-1].control |= I2C_CONTROL_STOP 493 | send_msg(messages[-1]) 494 | 495 | else: 496 | # send all messages 497 | for message in messages: 498 | send_msg(message) 499 | 500 | return tuple(rx_buffer) 501 | 502 | def _get_uart_control_baud(self, baud): 503 | """Returns UART control value for given baud rate. Will raise 504 | InvalidBaud exception if baud is invalid. 505 | """ 506 | baud_control = {300: 0 << 2, 507 | 1200: 1 << 2, 508 | 2400: 2 << 2, 509 | 9600: 3 << 2, 510 | 10417: 4 << 2, 511 | 19200: 5 << 2, 512 | 57600: 6 << 2, 513 | 115200: 7 << 2} 514 | if baud not in baud_control: 515 | raise InvalidBaud('{} is not a valid baud rate (valid baud ' 516 | 'rates: {}).'.format(baud, tuple(baud_control.keys()))) 517 | else: 518 | return baud_control[baud] 519 | 520 | def uart_set_baud(self, baud): 521 | self.set(CHANNEL_INDEX_UART_CONTROL, self._get_uart_control_baud(baud)) 522 | 523 | def uart_tx(self, data_bytes, baud=UART_DEFAULT_BAUD): 524 | """Transmits data bytes over UART. Use this if you just want to 525 | send X amount of data. Be sure to configure the extension pins 526 | first. For example: 527 | 528 | >>> from codebug_tether import CodeBug 529 | >>> codebug = CodeBug() 530 | >>> codebug.config_extension_uart() 531 | >>> # send 0xAA, 0xBB over UART 532 | >>> codebug.uart_tx(bytes((0xAA, 0xBB))) 533 | >>> # send 0xAA, 0xBB over UART at 300 baud 534 | >>> codebug.uart_tx(bytes((0xAA, 0xBB)), baud=300) 535 | 536 | """ 537 | self.uart_tx_set_buffer(data_bytes) 538 | self.uart_tx_start(len(data_bytes)) 539 | 540 | def uart_tx_start(self, length, offset=0, baud=UART_DEFAULT_BAUD): 541 | """Transmits 'length' data bytes from UART buffer starting at 542 | 'offset' over UART. Be sure to configure the extension pins 543 | first. For example, you might want to fill the buffer with two 544 | commands (0xAA and 0xBB) which are sent over UART and only send 545 | one at a time: 546 | 547 | >>> from codebug_tether import CodeBug 548 | >>> codebug = CodeBug() 549 | >>> codebug.config_extension_uart() 550 | >>> codebug.uart_tx_set_buffer(bytes((0xAA, 0xBB))) 551 | >>> codebug.uart_tx_start(1, offset=0) # send 0xAA over UART 552 | >>> codebug.uart_tx_start(1, offset=1) # send 0xBB over UART 553 | >>> # send 0xAA over UART at 300 baud 554 | >>> codebug.uart_tx_start(1, offset=0, baud=300) 555 | 556 | """ 557 | control = self._get_uart_control_baud(baud) | UART_TX_GO_BUSY_MASK 558 | self.set_bulk(CHANNEL_INDEX_UART_TX_OFFSET, 559 | bytes((offset, length, control))) 560 | 561 | def uart_tx_set_buffer(self, data_bytes, offset=0): 562 | """Add data_bytes to the UART buffer at offset.""" 563 | self.set_buffer(UART_TX_BUFFER_INDEX, data_bytes, offset) 564 | 565 | def uart_rx_start(self, length, baud=UART_DEFAULT_BAUD, offset=0): 566 | """Begins receiving on the UART. RX will stop when length data is 567 | reached. Be sure to configure the extension pins first. For example 568 | 569 | >>> from codebug_tether import CodeBug 570 | >>> codebug = CodeBug() 571 | >>> codebug.config_extension_uart() 572 | >>> codebug.uart_rx_start(2) # ready to receive 2B over UART 573 | >>> # wait until data ready (alternatively, sleep X seconds) 574 | >>> while not codebug.uart_rx_is_ready(): 575 | ... pass 576 | ... 577 | >>> codebug.uart_rx_get_buffer(2) # read out the two bytes 578 | 579 | """ 580 | self.set_bulk(CHANNEL_INDEX_UART_RX_OFFSET, bytes((offset, length))) 581 | self.set(CHANNEL_INDEX_UART_CONTROL, 582 | self._get_uart_control_baud(baud) | UART_RX_GO_BUSY_MASK) 583 | 584 | def uart_rx_is_ready(self): 585 | """Returns True if the UART has finished receiving data.""" 586 | uart_control = self.get(CHANNEL_INDEX_UART_CONTROL)[0] 587 | return uart_control & UART_RX_GO_BUSY_MASK == 0 588 | 589 | def uart_rx_get_buffer(self, length, offset=0): 590 | """Returns data bytes from UART buffer.""" 591 | return self.get_buffer(UART_RX_BUFFER_INDEX, length, offset) 592 | 593 | 594 | def scale(x, from_low, from_high, to_low, to_high): 595 | # Hardware can only do 16bit maths 596 | def limit(v): 597 | max_value = 0x7fff 598 | min_value = -0x8000 599 | return max(min_value, min(max_value, v)) 600 | x, from_low, from_high, to_low, to_high = map( 601 | limit, (x, from_low, from_high, to_low, to_high)) 602 | # do the scale 603 | from_delta = from_high - from_low 604 | x_offset = x - from_low 605 | to_delta = to_high - to_low 606 | new_x = int((x_offset * to_delta) / from_delta) 607 | return to_low + new_x 608 | -------------------------------------------------------------------------------- /codebug_tether/font.py: -------------------------------------------------------------------------------- 1 | class Font(object): 2 | """A pixel map of alphanumerical characters.""" 3 | 4 | char_height = None 5 | char_width = None 6 | 7 | def get_char_map(self, character): 8 | raise NotImplementedError("This is a placeholder font.") 9 | 10 | 11 | class FourByFiveFont(Font): 12 | 13 | char_height = 5 14 | char_width = 4 15 | 16 | char_map = { 17 | ' ': [0x0, 0x0, 0x0, 0x0, 0x0], 18 | '!': [0x4, 0x4, 0x4, 0x0, 0x4], 19 | '"': [0xa, 0xa, 0x0, 0x0, 0x0], 20 | '#': [0x6, 0xf, 0x6, 0xf, 0x6], 21 | '$': [0x7, 0xa, 0x6, 0x5, 0xe], 22 | '%': [0x7, 0xe, 0x4, 0x7, 0xe], 23 | '&': [0x2, 0x5, 0x6, 0xa, 0x5], 24 | '\'': [0x1, 0x2, 0x0, 0x0, 0x0], 25 | '(': [0x4, 0x8, 0x8, 0x8, 0x4], 26 | ')': [0x4, 0x2, 0x2, 0x2, 0x4], 27 | '*': [0x0, 0x6, 0xf, 0x6, 0x0], 28 | '+': [0x0, 0x2, 0x7, 0x2, 0x0], 29 | ',': [0x0, 0x0, 0x0, 0x2, 0x4], 30 | '-': [0x0, 0x0, 0x0, 0xf, 0x0], 31 | '.': [0x0, 0x0, 0x0, 0x0, 0x4], 32 | '/': [0x1, 0x1, 0x2, 0x4, 0x8], 33 | '0': [0x6, 0xb, 0xf, 0xd, 0x6], 34 | '1': [0x2, 0x6, 0x2, 0x2, 0x2], 35 | '2': [0xe, 0x1, 0x6, 0x8, 0xf], 36 | '3': [0xe, 0x1, 0x6, 0x1, 0xe], 37 | '4': [0x2, 0x6, 0xa, 0xf, 0x2], 38 | '5': [0xf, 0x8, 0xe, 0x1, 0xe], 39 | '6': [0x6, 0x8, 0xe, 0x9, 0x6], 40 | '7': [0xf, 0x1, 0x2, 0x4, 0x8], 41 | '8': [0x6, 0x9, 0x6, 0x9, 0x6], 42 | '9': [0x6, 0x9, 0xf, 0x1, 0x6], 43 | ':': [0x0, 0x4, 0x0, 0x4, 0x0], 44 | ';': [0x0, 0x4, 0x0, 0x4, 0x8], 45 | '<': [0x2, 0x4, 0x8, 0x4, 0x2], 46 | '=': [0x0, 0xf, 0x0, 0xf, 0x0], 47 | '>': [0x4, 0x2, 0x1, 0x2, 0x4], 48 | '?': [0x6, 0x9, 0x2, 0x0, 0x2], 49 | '@': [0x6, 0xd, 0xb, 0x8, 0x6], 50 | 'A': [0x4, 0xa, 0xe, 0xa, 0xa], 51 | 'B': [0xe, 0x9, 0xe, 0x9, 0xe], 52 | 'C': [0x6, 0x9, 0x8, 0x9, 0x6], 53 | 'D': [0xe, 0x9, 0x9, 0x9, 0xe], 54 | 'E': [0xf, 0x8, 0xe, 0x8, 0xf], 55 | 'F': [0xf, 0x8, 0xe, 0x8, 0x8], 56 | 'G': [0x6, 0x8, 0xb, 0x9, 0x6], 57 | 'H': [0x9, 0x9, 0xf, 0x9, 0x9], 58 | 'I': [0xe, 0x4, 0x4, 0x4, 0xe], 59 | 'J': [0x1, 0x1, 0x1, 0x9, 0x6], 60 | 'K': [0x9, 0xa, 0xc, 0xa, 0x9], 61 | 'L': [0x8, 0x8, 0x8, 0x8, 0xf], 62 | 'M': [0x9, 0xf, 0xf, 0x9, 0x9], 63 | 'N': [0x9, 0xd, 0xf, 0xb, 0x9], 64 | 'O': [0x6, 0x9, 0x9, 0x9, 0x6], 65 | 'P': [0xe, 0x9, 0xe, 0x8, 0x8], 66 | 'Q': [0x6, 0x9, 0x9, 0xb, 0x7], 67 | 'R': [0xe, 0x9, 0xe, 0xa, 0x9], 68 | 'S': [0x7, 0x8, 0x6, 0x1, 0xe], 69 | 'T': [0xe, 0x4, 0x4, 0x4, 0x4], 70 | 'U': [0x9, 0x9, 0x9, 0x9, 0x6], 71 | 'V': [0x9, 0x9, 0x9, 0x6, 0x6], 72 | 'W': [0x9, 0x9, 0xf, 0xf, 0x9], 73 | 'X': [0x9, 0x9, 0x6, 0x9, 0x9], 74 | 'Y': [0x9, 0x5, 0x2, 0x2, 0x2], 75 | 'Z': [0xf, 0x2, 0x4, 0x8, 0xf], 76 | '[': [0xe, 0x8, 0x8, 0x8, 0xe], 77 | '\\': [0x8, 0x8, 0x4, 0x2, 0x1], 78 | ']': [0x7, 0x1, 0x1, 0x1, 0x7], 79 | '^': [0x4, 0xa, 0x0, 0x0, 0x0], 80 | '_': [0x0, 0x0, 0x0, 0x0, 0xf], 81 | '`': [0x4, 0x2, 0x0, 0x0, 0x0], 82 | 'a': [0x0, 0x5, 0xb, 0xb, 0x5], 83 | 'b': [0x8, 0x8, 0xe, 0x9, 0xe], 84 | 'c': [0x0, 0x7, 0x8, 0x8, 0x7], 85 | 'd': [0x1, 0x1, 0x7, 0x9, 0x7], 86 | 'e': [0x0, 0x6, 0xf, 0x8, 0x7], 87 | 'f': [0x3, 0x4, 0xe, 0x4, 0x4], 88 | 'g': [0x7, 0x9, 0x7, 0x1, 0x7], 89 | 'h': [0x8, 0x8, 0xe, 0x9, 0x9], 90 | 'i': [0x0, 0x2, 0x0, 0x2, 0x2], 91 | 'j': [0x1, 0x0, 0x1, 0x1, 0x6], 92 | 'k': [0x8, 0xa, 0xc, 0xa, 0x9], 93 | 'l': [0xc, 0x4, 0x4, 0x4, 0xe], 94 | 'm': [0x0, 0x9, 0xf, 0xf, 0x9], 95 | 'n': [0x0, 0xe, 0x9, 0x9, 0x9], 96 | 'o': [0x0, 0x6, 0x9, 0x9, 0x6], 97 | 'p': [0x0, 0xe, 0x9, 0xe, 0x8], 98 | 'q': [0x0, 0x6, 0x9, 0x7, 0x1], 99 | 'r': [0x0, 0xb, 0xc, 0x8, 0x8], 100 | 's': [0x0, 0x7, 0x4, 0x2, 0xe], 101 | 't': [0x4, 0xe, 0x4, 0x4, 0x3], 102 | 'u': [0x0, 0x9, 0x9, 0x9, 0x6], 103 | 'v': [0x0, 0x9, 0x9, 0x6, 0x6], 104 | 'w': [0x0, 0x9, 0xf, 0xf, 0x6], 105 | 'x': [0x0, 0x9, 0x6, 0x6, 0x9], 106 | 'y': [0x0, 0x9, 0x7, 0x1, 0x6], 107 | 'z': [0x0, 0xf, 0x2, 0x4, 0xf], 108 | '{': [0x6, 0x4, 0xc, 0x4, 0x6], 109 | '|': [0x4, 0x4, 0x0, 0x4, 0x4], 110 | '}': [0xc, 0x4, 0x6, 0x4, 0xc], 111 | '~': [0x0, 0x0, 0x5, 0xa, 0x0], 112 | } 113 | 114 | def get_char_map(self, character): 115 | return self.char_map[character] 116 | -------------------------------------------------------------------------------- /codebug_tether/i2c.py: -------------------------------------------------------------------------------- 1 | """Handy I2C message building for CodeBug.""" 2 | # I2C messages 3 | I2C_CONTROL_GO_BUSY = 0x01 4 | I2C_CONTROL_SEND_ADDR = 0x02 5 | I2C_CONTROL_MASTER_FINAL_ACK = 0x04 6 | I2C_CONTROL_WAIT_FOR_ACK = 0x08 7 | I2C_CONTROL_ACK_AFTER_READ = 0x10 8 | I2C_CONTROL_STOP = 0x20 9 | I2C_CONTROL_START = 0x40 10 | I2C_CONTROL_READ_NOT_WRITE = 0x80 11 | 12 | 13 | class CodeBugI2CMaster(): 14 | """Performs I2C I/O transactions on the CodeBug I2C bus. 15 | 16 | Transactions are performed by passing one or more I2C I/O messages 17 | to the transaction method of the I2CMaster. I2C I/O messages are 18 | created with the reading and writing functions defined in the 19 | `codebug_tether.i2c module`. 20 | 21 | CodeBugI2CMaster acts as a context manager, allowing it to be used in a 22 | with statement. This is for compatibility with other I2CMasters, 23 | which this is intended to be used in place of. On its own there is 24 | no need to use this as a context manager. 25 | 26 | For example: 27 | 28 | import codebug_tether 29 | from codebug_tether.i2c import (I2CMaster, writing) 30 | 31 | codebug = codebug_tether.CodeBug() 32 | 33 | with I2CMaster(codebug) as i2c: 34 | i2c.transaction(writing(0x20, bytes([0x01, 0xFF]))) 35 | 36 | """ 37 | def __init__(self, codebug): 38 | """ 39 | :param codebug: The CodeBug through which to send I2C data. 40 | :type codebug: `codebug_tether.core.CodeBug` 41 | """ 42 | self.codebug = codebug 43 | 44 | def __enter__(self): 45 | return self 46 | 47 | def __exit__(self, exc_type, exc_value, traceback): 48 | pass 49 | 50 | def transaction(self, *msgs): 51 | """Perform an I2C I/O transaction. I2CMasters usually return one 52 | bytes array per read operation. Since CodeBug is only capable of one 53 | it doens't normally do this. 54 | """ 55 | return [bytes(self.codebug.i2c_transaction(*msgs))] 56 | 57 | 58 | class I2CMessage(): 59 | """Data structure for building I2C message patterns.""" 60 | 61 | def __init__(self, control, address, data, length): 62 | self.control = control 63 | self.address = address 64 | self.data = data 65 | self.length = length 66 | 67 | 68 | # I2C message generators (feel free to go ahead and form your own I2C messages) 69 | def writing_bytes(addr, *data_bytes): 70 | """An I2C I/O message that writes one or more bytes of data. 71 | 72 | Each byte is passed as an argument to this function. 73 | 74 | writing_bytes(addr, 1, 2, 3) 75 | 76 | """ 77 | return writing(addr, data_bytes) 78 | 79 | 80 | def writing(address, data_bytes): 81 | """Returns a standard I2C write message. Address is limited to 7 bits. 82 | 83 | The bytes are passed to this function as a sequence. 84 | 85 | writing_bytes(addr, (1, 2, 3)) 86 | 87 | """ 88 | data = bytes(data_bytes) 89 | return I2CMessage(control=(I2C_CONTROL_START | 90 | I2C_CONTROL_SEND_ADDR | 91 | I2C_CONTROL_WAIT_FOR_ACK | 92 | I2C_CONTROL_GO_BUSY), 93 | address=(0x7f & address), 94 | data=data, 95 | length=len(data)) 96 | 97 | 98 | def reading(address, length): 99 | """Returns a standard I2C read message. Address is limited to 7 bits.""" 100 | return I2CMessage(control=(I2C_CONTROL_START | 101 | I2C_CONTROL_SEND_ADDR | 102 | I2C_CONTROL_WAIT_FOR_ACK | 103 | I2C_CONTROL_ACK_AFTER_READ | 104 | I2C_CONTROL_READ_NOT_WRITE | 105 | I2C_CONTROL_GO_BUSY), 106 | address=(0x7f & address), 107 | data=list(), 108 | length=length) 109 | -------------------------------------------------------------------------------- /codebug_tether/platform.py: -------------------------------------------------------------------------------- 1 | """Functions for figuring out specific things about the current platform.""" 2 | import re 3 | import os 4 | import sys 5 | import glob 6 | import serial 7 | 8 | 9 | def get_platform_serial_port(): 10 | # setup DEFAULT_SERIAL_PORT which is different on Windows, MacOS, 11 | # Raspberry Pi 2 and Raspberry Pi 3 12 | if sys.platform.startswith('win') or sys.platform.startswith('darwin'): 13 | # On Windows or OSX take the first serial port we can find 14 | def serial_ports(): 15 | """ Lists serial port names 16 | 17 | :raises EnvironmentError: 18 | On unsupported or unknown platforms 19 | :returns: 20 | A list of the serial ports available on the system 21 | """ 22 | if sys.platform.startswith('win'): 23 | ports = ['COM%s' % (i + 1) for i in range(256)] 24 | elif (sys.platform.startswith('linux') or 25 | sys.platform.startswith('cygwin')): 26 | # this excludes your current terminal "/dev/tty" 27 | ports = glob.glob('/dev/tty[A-Za-z0-9]*') 28 | elif sys.platform.startswith('darwin'): 29 | ports = glob.glob('/dev/tty.*') 30 | else: 31 | raise EnvironmentError('Unsupported platform') 32 | 33 | result = [] 34 | for port in ports: 35 | try: 36 | s = serial.Serial(port) 37 | s.close() 38 | result.append(port) 39 | except (OSError, serial.SerialException): 40 | pass 41 | return result 42 | # use the first one 43 | try: 44 | return serial_ports()[0] 45 | except IndexError: 46 | print('ERROR: Could not find any serial ports.', file=sys.stderr) 47 | return '' 48 | else: 49 | # otherwise assume we're on Raspberry Pi/Linux 50 | def get_rpi_revision(): 51 | """Returns the version number from the revision line.""" 52 | for line in open("/proc/cpuinfo"): 53 | if "Revision" in line: 54 | return re.sub('Revision\t: ([a-z0-9]+)\n', r'\1', line) 55 | 56 | rpi_revision = get_rpi_revision() 57 | # if (rpi_revision and 58 | # (rpi_revision != 'Beta') and 59 | # (int('0x'+rpi_revision, 16) >= 0xa02082)): 60 | # # RPi 3 and above 61 | # return '/dev/ttyS0' 62 | # else: 63 | # # RPi 2 and below 64 | # return '/dev/ttyACM0' 65 | return '/dev/ttyACM0' 66 | -------------------------------------------------------------------------------- /codebug_tether/serial_channel_device.py: -------------------------------------------------------------------------------- 1 | ''' 2 | Useful for interacting with serial devices which use channels. 3 | ''' 4 | import struct 5 | 6 | 7 | ACK_BYTE = bytes((0xCB,)) 8 | 9 | CMD_GET = 0 10 | CMD_SET = 1 11 | CMD_GET_BULK = 2 12 | CMD_SET_BULK = 3 13 | CMD_AND = 4 14 | CMD_OR = 5 15 | CMD_GET_BUFFER= 6 16 | CMD_SET_BUFFER = 7 17 | 18 | 19 | class SerialChannelDevice(): 20 | """A serial device with single-byte channels and several-byte 21 | buffers. 22 | 23 | Channels can be GET/SET individually or in bulk. 24 | 25 | Buffers can be GET/SET in bulk only. 26 | 27 | Consult device documentation for channel/buffer implementation. 28 | 29 | +------------------------------------------------------------------+ 30 | | Serial Channel Device | 31 | | | 32 | | Channels (1B) Buffers (XB) | 33 | | +-----------+ +-----------+-----------+-----------+-----------+ | 34 | | | ch0 | | buf0-0 | buf0-1 | ... | buf0-N | | 35 | | +-----------+ +-----------+-----------+-----------+-----------+ | 36 | | | ch1 | +-----------+-----------+-----------+-----------+ | 37 | | +-----------+ | buf1-0 | buf1-1 | ... | buf1-N | | 38 | | | ... | +-----------+-----------+-----------+-----------+ | 39 | | +-----------+ | 40 | | | chN | | 41 | | +-----------+ | 42 | +------------------------------------------------------------------+ 43 | """ 44 | 45 | def __init__(self, serial_port): 46 | self.serial_port = serial_port 47 | 48 | def get(self, channel_index): 49 | """Returns GetPacket as bytes. 50 | 51 | GET packet is for retreiving channel values. 52 | 53 | +--------+---------------+ 54 | | cmd id | channel index | 55 | +--------+---------------+ 56 | | 3 bits | 5 bits | 57 | +--------+---------------+ 58 | 59 | """ 60 | self.transaction( 61 | struct.pack('B', (CMD_GET << 5) | (channel_index & 0x1f))) 62 | # Serial port will now contain channel data 63 | return self.serial_port.read(1) 64 | 65 | def set(self, channel_index, value): 66 | """Returns SetPacket as bytes. 67 | 68 | SET packet for setting channel values. 69 | 70 | +--------+---------------+--------+ 71 | | cmd id | channel index | value | 72 | +--------+---------------+--------+ 73 | | 3 bits | 5 bits | 1 byte | 74 | +--------+---------------+--------+ 75 | 76 | """ 77 | self.transaction( 78 | struct.pack('BB', 79 | (CMD_SET << 5 | channel_index & 0x1f), 80 | value)) 81 | 82 | def get_bulk(self, channel_index, length): 83 | """GET BULK packet for retrieving multiple adjacent channel 84 | values in one go. 85 | 86 | +--------+---------------------+--------+ 87 | | cmd id | start channel index | length | 88 | +--------+---------------------+--------+ 89 | | 3 bits | 5 bits | 1 byte | 90 | +--------+---------------------+--------+ 91 | 92 | """ 93 | self.transaction( 94 | struct.pack('BB', 95 | (CMD_GET_BULK << 5 | channel_index & 0x1f), 96 | length)) 97 | # Serial port will now contain channel data 98 | return self.serial_port.read(length) 99 | 100 | def set_bulk(self, channel_index, value_bytes): 101 | """SET BULK packet for setting multiple adjacent channel values 102 | in one go. 103 | 104 | +--------+-----------------+-----+------------+ 105 | | cmd id | start ch. index | len | values | 106 | +--------+-----------------+-----+------------+ 107 | | 3 bits | 5 bits | 1B | 1+ byte(s) | 108 | +--------+-----------------+-----+------------+ 109 | 110 | """ 111 | self.transaction( 112 | struct.pack('BB', 113 | (CMD_SET_BULK << 5 | channel_index & 0x1f), 114 | len(value_bytes)) + value_bytes) 115 | 116 | def and_mask(self, channel_index, mask): 117 | """Returns AndPacket as bytes. 118 | 119 | AND packet for ANDing channel values. 120 | 121 | +--------+---------------+-----------+ 122 | | cmd id | channel index | AND mask | 123 | +--------+---------------+-----------+ 124 | | 3 bits | 5 bits | 1 byte | 125 | +--------+---------------+-----------+ 126 | 127 | """ 128 | self.transaction( 129 | struct.pack('B', (CMD_AND << 5 | channel_index & 0x1f)) + \ 130 | bytes((mask,))) 131 | 132 | def or_mask(self, channel_index, mask): 133 | """Returns OrPacket as bytes. 134 | 135 | OR packet for ORing channel values. 136 | 137 | +--------+---------------+----------+ 138 | | cmd id | channel index | OR mask | 139 | +--------+---------------+----------+ 140 | | 3 bits | 5 bits | 1 byte | 141 | +--------+---------------+----------+ 142 | 143 | """ 144 | self.transaction( 145 | struct.pack('B', (CMD_OR << 5 | channel_index & 0x1f)) + \ 146 | bytes((mask,))) 147 | 148 | def set_bit(self, channel_index, bit_index, state): 149 | """Sets a bit in a channel to state.""" 150 | if state: 151 | self.or_mask(channel_index, 1 << bit_index) 152 | else: 153 | self.and_mask(channel_index, 0xff ^ (1 << bit_index)) 154 | 155 | def get_bit(self, channel_index, bit_index): 156 | """Returns a bit from a channel.""" 157 | value = struct.unpack('B', self.get(channel_index))[0] 158 | return (value >> bit_index) & 0x1 159 | 160 | def get_buffer(self, buffer_index, length, offset=0): 161 | """GET BUFFER packet for reading whole buffers. 162 | 163 | +--------+--------------+--------+--------+ 164 | | cmd id | buffer index | offset | length | 165 | +--------+--------------+--------+--------+ 166 | | 3 bits | 5 bits | 1 byte | 1 byte | 167 | +--------+--------------+--------+--------+ 168 | 169 | """ 170 | self.transaction( 171 | struct.pack('BBB', 172 | (CMD_GET_BUFFER << 5 | buffer_index & 0x1f), 173 | offset, 174 | length)) 175 | # Serial port will now contain buffer data 176 | return self.serial_port.read(length) 177 | 178 | def set_buffer(self, buffer_index, value_bytes, offset=0): 179 | """SET BUFFER packet for setting whole buffers. 180 | 181 | +--------+--------------+--------+--------+------------+ 182 | | cmd id | buffer index | offset | length | values | 183 | +--------+--------------+--------+--------+------------+ 184 | | 3 bits | 5 bits | 1 byte | 1 byte | 1+ byte(s) | 185 | +--------+--------------+--------+--------+------------+ 186 | 187 | """ 188 | self.transaction( 189 | struct.pack('BBB', 190 | (CMD_SET_BUFFER << 5 | buffer_index & 0x1f), 191 | offset, 192 | len(value_bytes)) + value_bytes) 193 | 194 | def transaction(self, tx_bytes): 195 | """Sends a packet and waits for a ACK response.""" 196 | # Send the packet 197 | self.serial_port.write(tx_bytes) 198 | 199 | # CodeBug will always return an ACK byte 200 | assert self.serial_port.read(1) == ACK_BYTE 201 | -------------------------------------------------------------------------------- /codebug_tether/sprites.py: -------------------------------------------------------------------------------- 1 | """Sprites are two dimensional drawings/characters/letters.""" 2 | from codebug_tether.font import FourByFiveFont 3 | 4 | 5 | class Sprite(object): 6 | """A two dimensional sprite.""" 7 | 8 | def __init__(self, width, height): 9 | self.width = width 10 | self.height = height 11 | self.clear() 12 | 13 | def clear(self): 14 | # inner list is y so we can access it like: pixel_state[x][y] 15 | self.pixel_state = [[0 for i in range(self.height)] 16 | for j in range(self.width)] 17 | 18 | def set_pixel(self, x, y, state): 19 | self.pixel_state[x][y] = state 20 | 21 | def get_pixel(self, x, y): 22 | return self.pixel_state[x][y] 23 | 24 | def set_row(self, y, row): 25 | """Sets an entire row to be the value contained in line.""" 26 | for x in range(self.width): 27 | state = (row >> (self.width - 1 - x)) & 1 28 | self.set_pixel(x, y, state) 29 | 30 | def get_row(self, y): 31 | """Returns an entire row as a number.""" 32 | row_state = 0 33 | for x in range(self.width): 34 | row_state |= (self.get_pixel(x, y) & 1) << (self.width - 1 - x) 35 | return row_state; 36 | 37 | def set_col(self, x, line): 38 | """Sets an entire column to be the value contained in line.""" 39 | for y in range(self.height): 40 | state = (line >> (self.height - 1 - y)) & 1 41 | self.set_pixel(x, y, state) 42 | 43 | def get_col(self, x): 44 | """Returns an entire column as a number.""" 45 | col_state = 0 46 | for y in range(self.height): 47 | col_state |= (self.get_pixel(x, y) & 1) << (self.height - 1 - y) 48 | return col_state 49 | 50 | def render_sprite(self, x, y, sprite_to_draw): 51 | """Renders the sprite given as an argument on this sprite at (x, y).""" 52 | for j in range(sprite_to_draw.height): 53 | for i in range(sprite_to_draw.width): 54 | new_x = x + i 55 | new_y = y + j 56 | draw_x = 0 <= new_x < self.width 57 | draw_y = 0 <= new_y < self.height 58 | if draw_x and draw_y: 59 | self.set_pixel(new_x, 60 | new_y, 61 | sprite_to_draw.get_pixel(i, j)) 62 | 63 | def get_sprite(self, x, y, width, height): 64 | """Returns a new sprite of dimensions width x height from the 65 | given location (x, y) from this sprite. 66 | """ 67 | new_sprite = Sprite(width, height) 68 | for j in range(height): 69 | for i in range(width): 70 | new_x = x + i 71 | new_y = y + j 72 | get_x = 0 <= new_x < self.width 73 | get_y = 0 <= new_y < self.height 74 | if get_x and get_y: 75 | new_sprite.set_pixel(i, j, self.get_pixel(new_x, new_y)) 76 | return new_sprite 77 | 78 | def clone(self): 79 | """Returns a clone of this Sprite.""" 80 | return self.get_sprite(0, 0, self.width, self.height) 81 | 82 | def invert_diagonal(self): 83 | """Inverts this sprite across the diagonal axis.""" 84 | new_sprite = Sprite(width=self.height, height=self.width) 85 | for x in range(self.width): 86 | new_sprite.set_row(x, self.get_col(x)) 87 | self.height = new_sprite.height 88 | self.width = new_sprite.width 89 | self.pixel_state = new_sprite.pixel_state 90 | 91 | def invert_vertical(self): 92 | """Inverts this sprite across the vertical axis.""" 93 | new_sprite = Sprite(self.width, self.height) 94 | for y in range(self.height): 95 | new_sprite.set_row(self.height-1-y, self.get_row(y)) 96 | self.pixel_state = new_sprite.pixel_state 97 | 98 | def invert_horizontal(self): 99 | """Inverts this sprite across the horizontal axis.""" 100 | new_sprite = Sprite(self.width, self.height) 101 | for x in range(self.width): 102 | new_sprite.set_col(self.width-1-x, self.get_col(x)) 103 | self.pixel_state = new_sprite.pixel_state 104 | 105 | def rotate90(self, rotation=1): 106 | """Rotate the sprite clockwise in 90degs steps. Specify the 107 | number of times to rotate by 90degs. 108 | """ 109 | rotation = rotation % 4 110 | if rotation == 1: 111 | self.invert_diagonal() 112 | self.invert_vertical() 113 | elif rotation == 2: 114 | self.invert_horizontal() 115 | self.invert_vertical() 116 | elif rotation == 3: 117 | self.invert_diagonal() 118 | self.invert_horizontal() 119 | 120 | def draw_rectangle(self, x, y, width, height, line_weight=0): 121 | """Draw a rectangle on this sprite. If line_weight is 0 then fill 122 | the rectangle. 123 | """ 124 | if line_weight <= 0: 125 | for j in range(height): 126 | for i in range(width): 127 | self.set_pixel(x+i, y+j, 1) 128 | else: 129 | # draw vertical 130 | for height_pixel in range(height): 131 | for line in range(line_weight): 132 | self.set_pixel(x+line, y+height_pixel, 1) 133 | self.set_pixel(x+width-1-line, y+height_pixel, 1) 134 | 135 | # draw horizontal 136 | for width_pixel in range(width): 137 | for line in range(line_weight): 138 | self.set_pixel(x+width_pixel, y+line, 1) 139 | self.set_pixel(x+width_pixel, y+height-1-line, 1) 140 | 141 | 142 | class CharSprite(Sprite): 143 | """Character sprite displays an alphanumerical character using a Font.""" 144 | 145 | def __init__(self, character, font=FourByFiveFont()): 146 | super().__init__(font.char_width, font.char_height) 147 | self.font = font 148 | self.render_char(character) 149 | 150 | def render_char(self, character): 151 | for i in range(self.height): 152 | self.set_row(self.height-i-1, 153 | self.font.get_char_map(character)[i]) 154 | 155 | 156 | class StringSprite(Sprite): 157 | """String Sprite displays an alphanumerical string of characters 158 | using a Font. 159 | """ 160 | 161 | def __init__(self, string, direction='R', font=FourByFiveFont()): 162 | string = str(string) # make sure str is string 163 | self.direction = direction 164 | self.font = font 165 | 166 | # calculate this sprites width and height 167 | if self.direction == 'R' or self.direction == 'L': 168 | # R:"Hello, World!" or L:"!dlroW ,olleH" 169 | spr_width = (font.char_width+1) * len(string) 170 | spr_height = font.char_height 171 | elif self.direction == 'U' or self.direction == 'D': 172 | """U:"! or D:"H 173 | d e 174 | l l 175 | r l 176 | o o 177 | W , 178 | 179 | , W 180 | o o 181 | l r 182 | l l 183 | e d 184 | H" !" 185 | """ 186 | spr_width = font.char_width 187 | spr_height = (font.char_height + 1) * len(string) 188 | 189 | super().__init__(spr_width, spr_height) 190 | 191 | self.render_str(string) 192 | 193 | def render_str(self, string): 194 | for i, c in enumerate(string): 195 | character = CharSprite(c, self.font) 196 | # width and height with 1 pixel space 197 | chr_width_sp = self.font.char_width + 1; 198 | chr_height_sp = self.font.char_height + 1; 199 | if self.direction == 'R': 200 | self.render_sprite(i * chr_width_sp, 0, character) 201 | elif self.direction == 'U': 202 | self.render_sprite(0, i * chr_height_sp, character) 203 | elif self.direction == 'D': 204 | # put the space before each letter (-1 to y) 205 | y = self.height-self.font.char_height-(i*chr_height_sp)-1 206 | self.render_sprite(0, y, character) 207 | elif self.direction == 'L': 208 | x = self.width - chr_width_sp - (i*chr_width_sp) 209 | self.render_sprite(x, 0, character) 210 | -------------------------------------------------------------------------------- /codebug_tether/version.py: -------------------------------------------------------------------------------- 1 | __version__ = '0.9.1' 2 | -------------------------------------------------------------------------------- /docs/Makefile: -------------------------------------------------------------------------------- 1 | # Makefile for Sphinx documentation 2 | # 3 | 4 | # You can set these variables from the command line. 5 | SPHINXOPTS = 6 | SPHINXBUILD = sphinx-build 7 | PAPER = 8 | BUILDDIR = _build 9 | 10 | # Internal variables. 11 | PAPEROPT_a4 = -D latex_paper_size=a4 12 | PAPEROPT_letter = -D latex_paper_size=letter 13 | ALLSPHINXOPTS = -d $(BUILDDIR)/doctrees $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) . 14 | # the i18n builder cannot share the environment and doctrees with the others 15 | I18NSPHINXOPTS = $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) . 16 | 17 | .PHONY: help clean html dirhtml singlehtml pickle json htmlhelp qthelp devhelp epub latex latexpdf text man changes linkcheck doctest gettext 18 | 19 | help: 20 | @echo "Please use \`make ' where is one of" 21 | @echo " html to make standalone HTML files" 22 | @echo " dirhtml to make HTML files named index.html in directories" 23 | @echo " singlehtml to make a single large HTML file" 24 | @echo " pickle to make pickle files" 25 | @echo " json to make JSON files" 26 | @echo " htmlhelp to make HTML files and a HTML help project" 27 | @echo " qthelp to make HTML files and a qthelp project" 28 | @echo " devhelp to make HTML files and a Devhelp project" 29 | @echo " epub to make an epub" 30 | @echo " latex to make LaTeX files, you can set PAPER=a4 or PAPER=letter" 31 | @echo " latexpdf to make LaTeX files and run them through pdflatex" 32 | @echo " text to make text files" 33 | @echo " man to make manual pages" 34 | @echo " texinfo to make Texinfo files" 35 | @echo " info to make Texinfo files and run them through makeinfo" 36 | @echo " gettext to make PO message catalogs" 37 | @echo " changes to make an overview of all changed/added/deprecated items" 38 | @echo " linkcheck to check all external links for integrity" 39 | @echo " doctest to run all doctests embedded in the documentation (if enabled)" 40 | 41 | clean: 42 | -rm -rf $(BUILDDIR)/* 43 | 44 | html: 45 | $(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html 46 | @echo 47 | @echo "Build finished. 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The message catalogs are in $(BUILDDIR)/locale." 138 | 139 | changes: 140 | $(SPHINXBUILD) -b changes $(ALLSPHINXOPTS) $(BUILDDIR)/changes 141 | @echo 142 | @echo "The overview file is in $(BUILDDIR)/changes." 143 | 144 | linkcheck: 145 | $(SPHINXBUILD) -b linkcheck $(ALLSPHINXOPTS) $(BUILDDIR)/linkcheck 146 | @echo 147 | @echo "Link check complete; look for any errors in the above output " \ 148 | "or in $(BUILDDIR)/linkcheck/output.txt." 149 | 150 | doctest: 151 | $(SPHINXBUILD) -b doctest $(ALLSPHINXOPTS) $(BUILDDIR)/doctest 152 | @echo "Testing of doctests in the sources finished, look at the " \ 153 | "results in $(BUILDDIR)/doctest/output.txt." 154 | -------------------------------------------------------------------------------- /docs/conf.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # -*- coding: utf-8 -*- 3 | # 4 | # CodeBug Tether documentation build configuration file, created by 5 | # sphinx-quickstart on Thu Jun 20 15:23:09 2013. 6 | # 7 | # This file is execfile()d with the current directory set to its containing dir. 8 | # 9 | # Note that not all possible configuration values are present in this 10 | # autogenerated file. 11 | # 12 | # All configuration values have a default; values that are commented out 13 | # serve to show the default. 14 | 15 | import sys, os 16 | 17 | # If extensions (or modules to document with autodoc) are in another directory, 18 | # add these directories to sys.path here. If the directory is relative to the 19 | # documentation root, use os.path.abspath to make it absolute, like shown here. 20 | sys.path.insert(0, os.path.abspath('..')) 21 | 22 | # -- General configuration ----------------------------------------------------- 23 | 24 | # If your documentation needs a minimal Sphinx version, state it here. 25 | #needs_sphinx = '1.0' 26 | 27 | # Add any Sphinx extension module names here, as strings. They can be extensions 28 | # coming with Sphinx (named 'sphinx.ext.*') or your custom ones. 29 | extensions = ['sphinx.ext.autodoc', 'sphinx.ext.intersphinx', 'sphinx.ext.todo', 'sphinx.ext.coverage', 'sphinx.ext.pngmath'] 30 | 31 | # Add any paths that contain templates here, relative to this directory. 32 | templates_path = ['_templates'] 33 | 34 | # The suffix of source filenames. 35 | source_suffix = '.rst' 36 | 37 | # The encoding of source files. 38 | #source_encoding = 'utf-8-sig' 39 | 40 | # The master toctree document. 41 | master_doc = 'index' 42 | 43 | # General information about the project. 44 | project = 'CodeBug Tether' 45 | copyright = '2015, OpenLX' 46 | 47 | # The version info for the project you're documenting, acts as replacement for 48 | # |version| and |release|, also used in various other places throughout the 49 | # built documents. 50 | # 51 | # The short X.Y version. 52 | # The short X.Y version. 53 | # NOTE: this is the version of the firmware download too so don't change 54 | # this with minor changes in the software if the firmware hasn't changed! 55 | version = '0.8.5' 56 | # The full version, including alpha/beta/rc tags. 57 | release = '0.8.5' 58 | 59 | # The language for content autogenerated by Sphinx. Refer to documentation 60 | # for a list of supported languages. 61 | #language = None 62 | 63 | # There are two options for replacing |today|: either, you set today to some 64 | # non-false value, then it is used: 65 | #today = '' 66 | # Else, today_fmt is used as the format for a strftime call. 67 | #today_fmt = '%B %d, %Y' 68 | 69 | # List of patterns, relative to source directory, that match files and 70 | # directories to ignore when looking for source files. 71 | exclude_patterns = ['_build'] 72 | 73 | # The reST default role (used for this markup: `text`) to use for all documents. 74 | #default_role = None 75 | 76 | # If true, '()' will be appended to :func: etc. cross-reference text. 77 | #add_function_parentheses = True 78 | 79 | # If true, the current module name will be prepended to all description 80 | # unit titles (such as .. function::). 81 | #add_module_names = True 82 | 83 | # If true, sectionauthor and moduleauthor directives will be shown in the 84 | # output. They are ignored by default. 85 | #show_authors = False 86 | 87 | # The name of the Pygments (syntax highlighting) style to use. 88 | pygments_style = 'sphinx' 89 | 90 | # A list of ignored prefixes for module index sorting. 91 | #modindex_common_prefix = [] 92 | 93 | 94 | # -- Options for HTML output --------------------------------------------------- 95 | 96 | # The theme to use for HTML and HTML Help pages. See the documentation for 97 | # a list of builtin themes. 98 | html_theme = 'default' 99 | # html_theme = 'haiku' 100 | # html_theme = 'nature' 101 | 102 | # Theme options are theme-specific and customize the look and feel of a theme 103 | # further. For a list of options available for each theme, see the 104 | # documentation. 105 | #html_theme_options = {} 106 | 107 | # Add any paths that contain custom themes here, relative to this directory. 108 | #html_theme_path = [] 109 | 110 | # The name for this set of Sphinx documents. If None, it defaults to 111 | # " v documentation". 112 | #html_title = None 113 | 114 | # A shorter title for the navigation bar. Default is the same as html_title. 115 | #html_short_title = None 116 | 117 | # The name of an image file (relative to this directory) to place at the top 118 | # of the sidebar. 119 | #html_logo = None 120 | 121 | # The name of an image file (within the static path) to use as favicon of the 122 | # docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 123 | # pixels large. 124 | #html_favicon = None 125 | 126 | # Add any paths that contain custom static files (such as style sheets) here, 127 | # relative to this directory. They are copied after the builtin static files, 128 | # so a file named "default.css" will overwrite the builtin "default.css". 129 | html_static_path = ['_static'] 130 | 131 | # If not '', a 'Last updated on:' timestamp is inserted at every page bottom, 132 | # using the given strftime format. 133 | #html_last_updated_fmt = '%b %d, %Y' 134 | 135 | # If true, SmartyPants will be used to convert quotes and dashes to 136 | # typographically correct entities. 137 | #html_use_smartypants = True 138 | 139 | # Custom sidebar templates, maps document names to template names. 140 | #html_sidebars = {} 141 | 142 | # Additional templates that should be rendered to pages, maps page names to 143 | # template names. 144 | #html_additional_pages = {} 145 | 146 | # If false, no module index is generated. 147 | #html_domain_indices = True 148 | 149 | # If false, no index is generated. 150 | #html_use_index = True 151 | 152 | # If true, the index is split into individual pages for each letter. 153 | #html_split_index = False 154 | 155 | # If true, links to the reST sources are added to the pages. 156 | #html_show_sourcelink = True 157 | 158 | # If true, "Created using Sphinx" is shown in the HTML footer. Default is True. 159 | #html_show_sphinx = True 160 | 161 | # If true, "(C) Copyright ..." is shown in the HTML footer. Default is True. 162 | #html_show_copyright = True 163 | 164 | # If true, an OpenSearch description file will be output, and all pages will 165 | # contain a tag referring to it. The value of this option must be the 166 | # base URL from which the finished HTML is served. 167 | #html_use_opensearch = '' 168 | 169 | # This is the file name suffix for HTML files (e.g. ".xhtml"). 170 | #html_file_suffix = None 171 | 172 | # Output file base name for HTML help builder. 173 | htmlhelp_basename = 'codebug_tetherdoc' 174 | 175 | 176 | # -- Options for LaTeX output -------------------------------------------------- 177 | 178 | latex_elements = { 179 | # The paper size ('letterpaper' or 'a4paper'). 180 | #'papersize': 'letterpaper', 181 | 182 | # The font size ('10pt', '11pt' or '12pt'). 183 | #'pointsize': '10pt', 184 | 185 | # Additional stuff for the LaTeX preamble. 186 | #'preamble': '', 187 | } 188 | 189 | # Grouping the document tree into LaTeX files. List of tuples 190 | # (source start file, target name, title, author, documentclass [howto/manual]). 191 | latex_documents = [ 192 | ('index', 'codebug_tether.tex', 'CodeBug Tether Documentation', 193 | 'Thomas Preston', 'manual'), 194 | ] 195 | 196 | # The name of an image file (relative to this directory) to place at the top of 197 | # the title page. 198 | #latex_logo = None 199 | 200 | # For "manual" documents, if this is true, then toplevel headings are parts, 201 | # not chapters. 202 | #latex_use_parts = False 203 | 204 | # If true, show page references after internal links. 205 | #latex_show_pagerefs = False 206 | 207 | # If true, show URL addresses after external links. 208 | #latex_show_urls = False 209 | 210 | # Documents to append as an appendix to all manuals. 211 | #latex_appendices = [] 212 | 213 | # If false, no module index is generated. 214 | #latex_domain_indices = True 215 | 216 | 217 | # -- Options for manual page output -------------------------------------------- 218 | 219 | # One entry per manual page. List of tuples 220 | # (source start file, name, description, authors, manual section). 221 | man_pages = [ 222 | ('index', 'codebug_tether', 'CodeBug Tether Documentation', 223 | ['Thomas Preston'], 1) 224 | ] 225 | 226 | # If true, show URL addresses after external links. 227 | #man_show_urls = False 228 | 229 | 230 | # -- Options for Texinfo output ------------------------------------------------ 231 | 232 | # Grouping the document tree into Texinfo files. List of tuples 233 | # (source start file, target name, title, author, 234 | # dir menu entry, description, category) 235 | texinfo_documents = [ 236 | ('index', 'codebug_tether', 'CodeBug Tether Documentation', 237 | 'Thomas Preston', 'codebug_tether', 'One line description of project.', 238 | 'Miscellaneous'), 239 | ] 240 | 241 | # Documents to append as an appendix to all manuals. 242 | #texinfo_appendices = [] 243 | 244 | # If false, no module index is generated. 245 | #texinfo_domain_indices = True 246 | 247 | # How to display URL addresses: 'footnote', 'no', or 'inline'. 248 | #texinfo_show_urls = 'footnote' 249 | 250 | 251 | # Example configuration for intersphinx: refer to the Python standard library. 252 | intersphinx_mapping = {'http://docs.python.org/': None} 253 | 254 | todo_include_todos = True 255 | 256 | # A string of reStructuredText that will be included at the end of every 257 | # source file that is read. This is the right place to add substitutions 258 | # that should be available in every file. 259 | rst_epilog = """ 260 | .. |firmwaredownload| raw:: html 261 | 262 | download 263 | """.format(version=version) 264 | -------------------------------------------------------------------------------- /docs/example.rst: -------------------------------------------------------------------------------- 1 | .. _examples-label: 2 | 3 | ######## 4 | Examples 5 | ######## 6 | 7 | 8 | Basics 9 | ====== 10 | 11 | :: 12 | 13 | >>> import codebug_tether 14 | 15 | >>> codebug = codebug_tether.CodeBug() # create a CodeBug object 16 | 17 | >>> codebug.set_pixel(2, 1, 1) # turn on the LED at (2, 1) 18 | >>> codebug.set_pixel(0, 0, 0) # turn off the LED at (0, 0) 19 | >>> codebug.get_pixel(0, 1) # return the LED state at (0, 1) 20 | 1 21 | 22 | >>> codebug.clear() # turn off all LEDs 23 | 24 | >>> codebug.set_row(0, 5) # set row 0 to 5 (binary: 00101) 25 | >>> codebug.set_row(1, 0x1a) # set row 1 to 26 (binary: 11010) 26 | >>> codebug.set_row(2, 0b10101) # set row 2 to 21 (binary: 10101) 27 | >>> bin(codebug.get_row(2)) 28 | '0b10101' 29 | 30 | >>> codebug.set_col(0, 0x1f) # turn on all LEDs in column 0 31 | >>> codebug.get_col(0) 32 | 31 33 | 34 | >>> codebug.get_input('A') # returns the state of button 'A' 35 | 0 36 | >>> codebug.get_input(0) # returns the state of input 0 37 | 0 38 | 39 | >>> codebug.set_leg_io(0, 0) # set leg 0 to output 40 | >>> codebug.set_output(0, 1) # turn leg 0 'on' (1) 41 | 42 | 43 | .. note:: You can specify a different serial device for CodeBug by passing 44 | the class a string. For example: 45 | ``codebug = codebug_tether.CodeBug(serial_port='/dev/tty.USBmodem')``. 46 | 47 | 48 | Sprites 49 | ======= 50 | You can use the sprites library to quickly draw things on CodeBug's display. 51 | 52 | :: 53 | 54 | >>> import codebug_tether 55 | >>> import codebug_tether.sprites 56 | 57 | >>> # create a 3x3 square with the middle pixel off 58 | >>> square_sprite = codebug_tether.sprites.Sprite(3, 3) 59 | >>> square_sprite.set_row(0, 0b111) 60 | >>> square_sprite.set_row(1, 0b101) 61 | >>> square_sprite.set_row(2, 0b111) 62 | 63 | >>> # draw it in the middle of CodeBug 64 | >>> codebug = codebug_tether.CodeBug() 65 | >>> codebug.draw_sprite(1, 1, square_sprite) 66 | 67 | >>> # write some text 68 | >>> message = codebug_tether.sprites.StringSprite('Hello CodeBug!') 69 | >>> codebug.draw_sprite(0, 0, message) 70 | >>> # move it along 71 | >>> codebug.draw_sprite(-2, 0, message) 72 | >>> # scroll a sprite 73 | >>> codebug.scroll_sprite(message) 74 | 75 | You can do some more interesting things with Sprites:: 76 | 77 | >>> import codebug_tether.sprites 78 | 79 | >>> sprite = codebug_tether.sprites.Sprite(10, 10) 80 | 81 | >>> # basic gets and sets 82 | >>> sprite.set_pixel(0, 0, 1) 83 | >>> sprite.get_pixel(0, 0) 84 | 1 85 | >>> sprite.set_row(0, 0, 0b1111111111) 86 | >>> sprite.get_row(0) 87 | 1023 88 | >>> sprite.set_col(0, 0, 0b1111111111) 89 | >>> sprite.get_col(0) 90 | 1023 91 | 92 | >>> # transform the sprite 93 | >>> sprite.invert_horizontal() 94 | >>> sprite.invert_vertical() 95 | >>> sprite.invert_diagonal() 96 | >>> sprite.rotate90() 97 | >>> sprite.rotate90(rotation=2) # rotate 180 degrees 98 | 99 | >>> # clone or extract parts of the sprite 100 | >>> dolly_sprite = sprite.clone() 101 | >>> rectangle = sprite.get_sprite(3, 3, 5, 2) 102 | 103 | >>> # draw other sprites 104 | >>> sprite.render_sprite(1, 1, rectangle) 105 | 106 | You can also change the direction text is written in:: 107 | 108 | >>> from codebug_tether.sprites import StringSprite 109 | >>> left_to_right_msg = StringSprite('Hello CodeBug!') 110 | >>> right_to_left_msg = StringSprite('Hello CodeBug!', direction='L') 111 | >>> top_to_bottom_msg = StringSprite('Hello CodeBug!', direction='D') 112 | >>> bottom_to_top_msg = StringSprite('Hello CodeBug!', direction='U') 113 | 114 | 115 | Analogue Input 116 | ============== 117 | You can read analogue inputs from all 8 of CodeBug's I/O legs/extension 118 | pins:: 119 | 120 | >>> import codebug_tether 121 | >>> from codebug_tether import (IO_DIGITAL_INPUT, 122 | ... IO_ANALOGUE_INPUT, 123 | ... IO_PWM_OUTPUT, 124 | ... IO_DIGITAL_OUTPUT) 125 | ... 126 | >>> codebug = codebug_tether.CodeBug() 127 | >>> codebug.set_leg_io(0, IO_ANALOGUE_INPUT) 128 | >>> codebug.read_analogue(0) 129 | 128 130 | 131 | 132 | PWM Output 133 | ========== 134 | You can drive one synchronised PWM (Pulse Width Modulation) signal out 135 | of the first three legs on CodeBug. That is, the same PWM signal will 136 | be driven out of legs configured as PWM output:: 137 | 138 | >>> import codebug_tether 139 | >>> from codebug_tether import (IO_DIGITAL_INPUT, 140 | ... IO_ANALOGUE_INPUT, 141 | ... IO_PWM_OUTPUT, 142 | ... IO_DIGITAL_OUTPUT, 143 | ... T2_PS_1_1, 144 | ... T2_PS_1_4, 145 | ... T2_PS_1_16) 146 | 147 | >>> codebug = codebug_tether.CodeBug() 148 | >>> # configure legs 0 and 1 to be PWM output 149 | >>> codebug.set_leg_io(0, IO_PWM_OUTPUT) 150 | >>> codebug.set_leg_io(1, IO_PWM_OUTPUT) 151 | >>> # shortcut method to specify a frequency (the note C == 1046 Hz) 152 | >>> codebug.pwm_freq(1046) 153 | >>> time.sleep(2) 154 | >>> codebug.pwm_off() 155 | 156 | Or you can be more specific with the duty cycle and timing:: 157 | 158 | >>> # pwm on with 1:4 prescaler and 75% duty cycle @ ~977Hz 159 | >>> # Timer 2 prescale: 4Mhz clock / 4 = 1MHz timer speed 160 | >>> # full_period: 255 << 2 = 1024 (timer resets at this count; PWM = 1) 161 | >>> # on_period: 765 (PWM goes to zero at this count; PWM = 0) 162 | >>> # therefore duty cycle here is 75% 163 | >>> codebug.pwm_on(T2_PS_1_4, 255, 765) 164 | >>> time.sleep(2) 165 | >>> codebug.pwm_off() 166 | 167 | 168 | Servos 169 | ====== 170 | It is possible to drive up to eight servos from CodeBug. Servos 171 | typically operate by sending them a PWM (Pulse Width Modulation) signal 172 | with a 20ms period and a 1-2ms duty cycle which controls the angle of 173 | the servo. For example:: 174 | 175 | Pulse Length 176 | <-1-2ms-> 177 | 1+---------+ 178 | | | 179 | 0+ +--------------------------------------+ 180 | <------------------20ms (50Hz)-----------------> 181 | PWM Period 182 | 183 | A duty cycle of 1ms will typically correspond to 0° rotation and a duty 184 | cycle of 2ms will typically correspond to 180° rotation. Although the 185 | precise values may differ depending on the type of servo. 186 | 187 | In order to drive servos from CodeBug you can call the `servo_set()` 188 | method which takes the servo index (which leg you are driving the 189 | servo from) and the the pulse length specified in N 0.5μs. For example:: 190 | 191 | >>> import codebug_tether 192 | >>> from codebug_tether import (IO_DIGITAL_OUTPUT, scale) 193 | 194 | >>> # init CodeBug and configure leg 0 to be digital output 195 | >>> codebug = codebug_tether.CodeBug() 196 | >>> codebug.set_leg_io(0, IO_DIGITAL_OUTPUT) 197 | 198 | >>> # set servo on leg 0 with pulse length of 1ms (2000 * 0.5μs) 199 | >>> codebug.servo_set(0, 2000) 200 | 201 | >>> # stop driving the servo on leg 0 202 | >>> codebug.servo_set(0, 0) 203 | 204 | You can use the scale function to easily calculate the required pulse 205 | length value like so:: 206 | 207 | >>> import codebug_tether 208 | >>> from codebug_tether import (IO_DIGITAL_OUTPUT, scale) 209 | 210 | >>> # scale 50 in the range 0-100 to the range 0-255 211 | >>> scale(50, 0, 100, 0, 255) 212 | 127 213 | 214 | >>> # scale 10 in the range 0-30 to the range 100-400 215 | >>> scale(10, 0, 30, 100, 400) 216 | 200 217 | 218 | >>> # scale 90° in the range 0-180° to the range 2000-4000 * 0.5μs 219 | >>> scale(90, 0, 180, 2000, 4000) 220 | 3000 221 | 222 | >>> # init CodeBug and configure leg 0 to be digital output 223 | >>> codebug = codebug_tether.CodeBug() 224 | >>> codebug.set_leg_io(0, IO_DIGITAL_OUTPUT) 225 | 226 | >>> # drive the servo to be at 90 degrees 227 | >>> codebug.servo_set(0, scale(90, 0, 180, 2000, 4000)) 228 | 229 | 230 | Colour Tail 231 | =========== 232 | You can control Colour Tails (WS2812's) attached to CodeBug. By default, 233 | ColourTails attach to the CS pin on the extension header. You can also 234 | configure ColourTails to be driven from leg 0. 235 | 236 | :: 237 | 238 | >>> import codebug_tether 239 | >>> import codebug_tether.colourtail 240 | 241 | >>> codebug = codebug_tether.CodeBug() 242 | >>> colourtail = codebug_tether.colourtail.CodeBugColourTail(codebug) 243 | 244 | >>> # draw arrow pointing to the Colour Tail 245 | >>> codebug.set_row(4, 0b00100) 246 | >>> codebug.set_row(3, 0b00100) 247 | >>> codebug.set_row(2, 0b10101) 248 | >>> codebug.set_row(1, 0b01110) 249 | >>> codebug.set_row(0, 0b00100) 250 | 251 | >>> # make sure the extension header is configured as I/O 252 | >>> codebug.config_extension_io() 253 | 254 | >>> # initialise the colourtail (using EXT_CS pin) 255 | >>> colourtail.init() 256 | >>> colourtail.set_pixel(0, 255, 0, 0) # red 257 | >>> colourtail.set_pixel(1, 0, 255, 0) # green 258 | >>> colourtail.set_pixel(2, 0, 0, 255) # blue 259 | >>> colourtail.update() # turn on the LEDs 260 | 261 | >>> # initialise the colourtail (using LEG_0 pin) 262 | >>> colourtail.init(use_leg_0_not_cs=True) 263 | >>> colourtail.set_pixel(0, 255, 0, 0) # red 264 | >>> colourtail.set_pixel(1, 255, 0, 0) # red 265 | >>> colourtail.set_pixel(2, 0, 255, 0) # green 266 | >>> colourtail.set_pixel(3, 0, 255, 0) # green 267 | >>> colourtail.set_pixel(4, 0, 0, 255) # blue 268 | >>> colourtail.set_pixel(5, 0, 0, 255) # blue 269 | >>> colourtail.update() # turn on the LEDs 270 | 271 | 272 | Extension Header 273 | ================ 274 | You can use the extension header to drive SPI and I2C buses. 275 | 276 | .. DANGER:: 277 | Powering CodeBug from 5V USB means that the VCC pin on the extension 278 | header will also be at 5V. Do not use this pin to power devices which 279 | require less than 5V. 280 | 281 | Connect your SPI/I2C device onto the SPI/I2C lines:: 282 | 283 | + + 284 | + Back of CodeBug + 285 | + + 286 | +--------------------------+ 287 | | CodeBug Extension Header | 288 | +--------------------------+ 289 | | | | | | | 290 | CS GND SDO SCL SDI/A VCC 291 | 292 | +----------+---------------------+ 293 | | Pin Name | Function | 294 | +----------+---------------------+ 295 | | CS | Chip Select | 296 | | GND | Ground (0v) | 297 | | SDO | SPI MOSI | 298 | | SCL | SPI/I2C Clock | 299 | | SDI/A | SPI MISO / I2C data | 300 | | VCC | V+ (3V3, 5V) | 301 | +----------+---------------------+ 302 | 303 | You can configure the extension header mode with the following methods:: 304 | 305 | >>> import codebug_tether 306 | 307 | >>> codebug = codebug_tether.CodeBug() 308 | 309 | >>> codebug.config_extension_spi() # configure extension as SPI 310 | >>> codebug.config_extension_i2c() # configure extension as I2C 311 | >>> codebug.config_extension_uart() # configure extension as UART 312 | >>> codebug.config_extension_io() # reset extension as normal I/O 313 | 314 | SPI 315 | --- 316 | :: 317 | 318 | >>> import codebug_tether 319 | 320 | >>> codebug = codebug_tether.CodeBug() 321 | >>> codebug.config_extension_spi() 322 | 323 | >>> # send three bytes (get three bytes back -- SPI is duplex) 324 | >>> codebug.spi_transaction(bytes((0x12, 0x34, 0x56))) 325 | b'\xff\xff\xff' 326 | 327 | 328 | I2C 329 | --- 330 | :: 331 | 332 | >>> import codebug_tether 333 | >>> from codebug_tether.i2c import (reading, writing) 334 | >>> 335 | >>> # example I2C address 336 | >>> i2c_addr = 0x1C 337 | >>> 338 | >>> # setup 339 | >>> codebug = codebug_tether.CodeBug() 340 | >>> codebug.config_extension_i2c() 341 | 342 | Single byte read transaction (read reg 0x12):: 343 | 344 | >>> codebug.i2c_transaction(writing(i2c_addr, 0x12), # reg addr 345 | reading(i2c_addr, 1)) # read 1 reg 346 | (42,) 347 | 348 | Multiple byte read transaction (read regs 0x12-0x17):: 349 | 350 | >>> codebug.i2c_transaction(writing(i2c_addr, 0x12), # reg addr 351 | reading(i2c_addr, 6)) # read 6 reg 352 | (65, 87, 47, 91, 43, 60) 353 | 354 | Single byte write transaction (write value 0x34 to reg 0x12):: 355 | 356 | >>> codebug.i2c_transaction(writing(i2c_addr, 0x12, 0x34)) 357 | 358 | Multiple byte write transaction (write values 0x34, 0x56, 0x78 to reg 0x12):: 359 | 360 | >>> codebug.i2c_transaction( 361 | writing(i2c_addr, 0x12, 0x34, 0x56, 0x78)) 362 | 363 | 364 | UART 365 | ---- 366 | Sending data:: 367 | 368 | >>> import codebug_tether 369 | >>> codebug = codebug_tether.CodeBug() 370 | >>> codebug.config_extension_uart() 371 | >>> 372 | >>> # send 0xAA, 0xBB over UART 373 | >>> codebug.uart_tx(bytes((0xAA, 0xBB))) 374 | >>> 375 | >>> # send 0xAA, 0xBB over UART at 300 baud 376 | >>> codebug.uart_tx(bytes((0xAA, 0xBB)), baud=300) 377 | 378 | You can also write to the buffer first and then send data from within 379 | it:: 380 | 381 | >>> import codebug_tether 382 | >>> codebug = codebug_tether.CodeBug() 383 | >>> codebug.config_extension_uart() 384 | >>> 385 | >>> codebug.uart_tx_set_buffer(bytes((0xAA, 0xBB))) 386 | >>> 387 | >>> codebug.uart_tx_start(1, offset=0) # send 0xAA over UART 388 | >>> codebug.uart_tx_start(1, offset=1) # send 0xBB over UART 389 | >>> 390 | >>> # send 0xAA over UART at 300 baud 391 | >>> codebug.uart_tx_start(1, offset=0, baud=300) 392 | 393 | Receiving data:: 394 | 395 | >>> import codebug_tether 396 | >>> codebug = codebug_tether.CodeBug() 397 | >>> codebug.config_extension_uart() 398 | >>> 399 | >>> codebug.uart_rx_start(2) # ready to receive 2B over UART 400 | >>> 401 | >>> # wait until data ready (alternatively, sleep X seconds) 402 | >>> while not codebug.uart_rx_is_ready(): 403 | ... pass 404 | ... 405 | >>> codebug.uart_rx_get_buffer(2) # read out the two bytes 406 | -------------------------------------------------------------------------------- /docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to CodeBug Tether's documentation! 2 | ============================================== 3 | 4 | The codebug_tether Python module provides classes for 5 | interacting with CodeBug over USB Serial. 6 | 7 | Links: 8 | - `The CodeBug Website `_ 9 | - `CodeBug Activity: "Tethering CodeBug with Python" `_ 10 | 11 | Contents: 12 | 13 | .. toctree:: 14 | :maxdepth: 2 15 | 16 | codebug_tether 17 | installation 18 | example 19 | 20 | 21 | Indices and tables 22 | ================== 23 | 24 | * :ref:`genindex` 25 | * :ref:`modindex` 26 | * :ref:`search` 27 | 28 | -------------------------------------------------------------------------------- /docs/installation.rst: -------------------------------------------------------------------------------- 1 | ############ 2 | Installation 3 | ############ 4 | 5 | Setting up CodeBug 6 | ================== 7 | In order to use CodeBug with codebug_tether you need to program CodeBug 8 | with ``codebug_tether.cbg`` (|firmwaredownload|). 9 | 10 | To do this, hold down button A and plug in CodeBug via USB --- it should 11 | appear as a USB drive --- then copy the ``codebug_tether.cbg`` file onto it. 12 | CodeBug is now ready to be used via serial USB. Press button B to exit 13 | programming mode. 14 | 15 | .. note:: When CodeBug is connected to a computer via USB is should now 16 | appear as a serial device. To reprogram CodeBug: hold down 17 | button A and (re)plug it into a USB port. 18 | 19 | Install codebug_tether on Windows 20 | ================================= 21 | .. note:: These instructions are based on `The Hitchhikers Guide to Python: Installing Python on Windows `_ 22 | 23 | Install Python 24 | -------------- 25 | Download and install the latest version of Python 3 from `here `_. 26 | Make sure you tick the *Add Python 3 to environment variables* checkbox. 27 | 28 | Install codebug_tether 29 | ---------------------- 30 | To install codebug_tether, open up a command prompt and type:: 31 | 32 | pip install codebug_tether 33 | 34 | Restart Windows and then open IDLE. Plug in CodeBug and type:: 35 | 36 | >>> import codebug_tether 37 | >>> codebug = codebug_tether.CodeBug() 38 | >>> codebug.set_pixel(2, 2, 1) 39 | 40 | The middle pixel on your CodeBug should light up. 41 | 42 | See :ref:`examples-label` for more ways to use codebug_tether. 43 | 44 | 45 | Install codebug_tether on OSX 46 | ============================= 47 | .. note:: These instructions are based on `The Hitchhikers Guide to Python: Installing Python on Mac OS X `_ 48 | 49 | Install Python 50 | -------------- 51 | Download and install `Xcode `_ (if you haven't already) and then enable the command line tools by running (in a terminal):: 52 | 53 | xcode-select --install 54 | 55 | Now install Homebrew (a package manager for OSX):: 56 | 57 | /usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)" 58 | 59 | The script will explain what changes it will make and prompt you before the installation begins. Once you’ve installed Homebrew, insert the Homebrew directory at the top of your **PATH** environment variable. You can do this by adding the following line at the bottom of your ~/.profile file:: 60 | 61 | export PATH=/usr/local/bin:/usr/local/sbin:$PATH 62 | 63 | Now, we can install Python 3:: 64 | 65 | brew install python3 66 | 67 | This will take a minute or two. 68 | 69 | Install codebug_tether 70 | ---------------------- 71 | To install codebug_tether, open up a terminal and type:: 72 | 73 | pip install codebug_tether 74 | 75 | To test it has worked, plug in CodeBug and open a Python shell by typing:: 76 | 77 | python 78 | 79 | Your command prompt should have changed to:: 80 | 81 | >>> _ 82 | 83 | Now type:: 84 | 85 | >>> import codebug_tether 86 | >>> codebug = codebug_tether.CodeBug() 87 | >>> codebug.set_pixel(2, 2, 1) 88 | 89 | The middle pixel on your CodeBug should light up. 90 | 91 | See :ref:`examples-label` for more ways to use codebug_tether. 92 | 93 | 94 | Install codebug_tether on Linux 95 | =============================== 96 | Install Python 97 | -------------- 98 | Python 3 and pip should already be installed but for good measure run:: 99 | 100 | sudo apt-get update 101 | sudo apt-get upgrade 102 | sudo apt-get install python3 103 | 104 | If `pip` isn't installed you can securely download it from here `get-pip.py `_. 105 | 106 | Then run the following:: 107 | 108 | sudo python3 get-pip.py 109 | 110 | 111 | Install codebug_tether 112 | ---------------------- 113 | To install codebug_tether, open up a terminal and type:: 114 | 115 | sudo pip3 install codebug_tether 116 | 117 | To test it has worked, plug in CodeBug and open a Python shell by typing:: 118 | 119 | python3 120 | 121 | Your command prompt should have changed to:: 122 | 123 | >>> _ 124 | 125 | Now type:: 126 | 127 | >>> import codebug_tether 128 | >>> codebug = codebug_tether.CodeBug() 129 | >>> codebug.set_pixel(2, 2, 1) 130 | 131 | The middle pixel on your CodeBug should light up. 132 | 133 | See :ref:`examples-label` for more ways to use codebug_tether. 134 | 135 | 136 | Troubleshooting 137 | =============== 138 | Raspberry Pi - Disable Serial Port Login Shell 139 | ---------------------------------------------- 140 | CodeBug uses the USB serial port which (on older Raspberry Pi models) is configured to output the login shell by default. You must disable this before CodeBug will work. To do so, run:: 141 | 142 | sudo raspi-config 143 | 144 | Navigate to `Advanced Options` > `Serial`, disable the login shell and then reboot. 145 | -------------------------------------------------------------------------------- /examples/batteryChecker.py: -------------------------------------------------------------------------------- 1 | import time 2 | import subprocess 3 | from codebug_tether import CodeBug 4 | 5 | # Mac 6 | batteryCommand = ["pmset", "-g", "batt"] 7 | 8 | 9 | def displayString(displayString): 10 | delay = 0.2 11 | if len(displayString) > 1: 12 | for i in range(len(displayString) * 5 + 5): 13 | cb.write_text(5 - i, 0, displayString) 14 | time.sleep(delay) 15 | else: 16 | cb.write_text(0, 0, displayString) 17 | time.sleep(5) 18 | cb.clear() 19 | 20 | 21 | if __name__ == '__main__': 22 | cb = CodeBug('/dev/tty.usbmodemfa141') 23 | cb.clear() 24 | while True: 25 | if cb.get_input("A"): 26 | outputString = subprocess.check_output(batteryCommand) 27 | # print outputString 28 | batteryLife = outputString.split("\t")[1].split("%")[0] 29 | # print batteryLife 30 | displayString(batteryLife+'%') 31 | 32 | elif cb.get_input("B"): 33 | outputString = subprocess.check_output(batteryCommand) 34 | batteryLife = int(outputString.split("\t")[1].split("%")[0]) 35 | # print batteryLife 36 | rows = batteryLife/20 37 | # print rows 38 | for i in range(rows): 39 | cb.set_row(i,0b11111) 40 | # time.sleep(.1) 41 | units = batteryLife%20 42 | # print units 43 | unitleds = ((units)/4) 44 | # print unitleds 45 | for i in range(unitleds): 46 | cb.set_led(i,rows,1) 47 | time.sleep(4) 48 | cb.clear() 49 | -------------------------------------------------------------------------------- /examples/binary_counter.py: -------------------------------------------------------------------------------- 1 | # only needed for testing 2 | import os 3 | import sys 4 | parentdir = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) 5 | sys.path.insert(0, parentdir) 6 | 7 | from codebug_tether import CodeBug 8 | import time 9 | 10 | 11 | if __name__ == '__main__': 12 | cb = CodeBug() 13 | cb.clear() 14 | for i in range(0x20): 15 | cb.set_row(0, i) 16 | time.sleep(1) 17 | -------------------------------------------------------------------------------- /examples/blink.py: -------------------------------------------------------------------------------- 1 | import time 2 | from codebug_tether import CodeBug 3 | 4 | 5 | if __name__ == '__main__': 6 | cb = CodeBug() 7 | for i in range(10): 8 | cb.set_row(0, 0b10101) 9 | cb.set_row(1, 0b01010) 10 | cb.set_row(2, 0b10101) 11 | cb.set_row(3, 0b01010) 12 | cb.set_row(4, 0b10101) 13 | time.sleep(1) 14 | cb.set_row(0, 0b01010) 15 | cb.set_row(1, 0b10101) 16 | cb.set_row(2, 0b01010) 17 | cb.set_row(3, 0b10101) 18 | cb.set_row(4, 0b01010) 19 | time.sleep(1) 20 | -------------------------------------------------------------------------------- /examples/clock.py: -------------------------------------------------------------------------------- 1 | # only needed for testing 2 | import os 3 | import sys 4 | parentdir = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) 5 | sys.path.insert(0, parentdir) 6 | 7 | import datetime 8 | from codebug_tether import CodeBug 9 | import time 10 | from random import randint 11 | 12 | # if len(sys.argv) != 3: 13 | # print "Give two numbers as arguments" 14 | # sys.exit(1) 15 | 16 | def displayString(displayString): 17 | for i in range(len(displayString) * 5 + 5): 18 | cb.write_text(5 - i, 0, displayString) 19 | time.sleep(delay) 20 | 21 | if __name__ == '__main__': 22 | cb = CodeBug('/dev/tty.usbmodemfa141') 23 | cb.clear() 24 | delay = 0.2 25 | while True: 26 | if cb.get_input("A"): 27 | now = datetime.datetime.now() 28 | timeString = "TIME: {}:{}".format(now.hour, now.minute) 29 | displayString(timeString) 30 | 31 | elif cb.get_input("B"): 32 | now = datetime.datetime.now() 33 | dateString = "DATE: {}/{}/{}".format(now.day, now.month, now.year) 34 | displayString(dateString) -------------------------------------------------------------------------------- /examples/colourtail.py: -------------------------------------------------------------------------------- 1 | import time 2 | import datetime 3 | import codebug_tether 4 | import codebug_tether.colourtail 5 | 6 | 7 | if __name__ == '__main__': 8 | # initialise 9 | codebug = codebug_tether.CodeBug() 10 | colourtail = codebug_tether.colourtail.CodeBugColourTail(codebug) 11 | 12 | # draw arrow 13 | codebug.set_row(4, 0b00100) 14 | codebug.set_row(3, 0b00100) 15 | codebug.set_row(2, 0b10101) 16 | codebug.set_row(1, 0b01110) 17 | codebug.set_row(0, 0b00100) 18 | 19 | codebug.config_extension_io() 20 | 21 | # initialise the colourtail (using EXT_CS pin) 22 | colourtail.init() 23 | # colourtail.init(use_leg_0_not_cs=True) 24 | colourtail.set_pixel(0, 255, 0, 0) # red 25 | colourtail.set_pixel(1, 0, 255, 0) # green 26 | colourtail.set_pixel(2, 0, 0, 255) # blue 27 | colourtail.set_pixel(3, 0, 255, 0) 28 | colourtail.set_pixel(4, 255, 0, 0) 29 | colourtail.update() # turn on the LEDs 30 | 31 | 32 | 33 | # # do the loopy spiral thing 34 | # current_colour = 'red' 35 | # red = 0 36 | # green = 0 37 | # blue = 0 38 | # i = 0 39 | # num_leds = 5 40 | # while True: 41 | # if current_colour == 'red': 42 | # red += 1 43 | # if red >= 255: 44 | # red = 0 45 | # current_colour = 'green' 46 | # elif current_colour == 'green': 47 | # green += 1 48 | # if green >= 255: 49 | # green = 0 50 | # current_colour = 'blue' 51 | # elif current_colour == 'blue': 52 | # blue += 1 53 | # if blue >= 255: 54 | # blue = 0 55 | # current_colour = 'red' 56 | # colourtail.set_pixel(i, red, green, blue) 57 | # colourtail.update() # turn on the LEDs 58 | # i = (i + 1) % num_leds 59 | # time.sleep(0.005) 60 | -------------------------------------------------------------------------------- /examples/dice.py: -------------------------------------------------------------------------------- 1 | # only needed for testing 2 | import os 3 | import sys 4 | parentdir = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) 5 | sys.path.insert(0, parentdir) 6 | 7 | from codebug_tether import CodeBug 8 | import time 9 | from random import randint 10 | 11 | sprites = [[0b00000, 12 | 0b00000, 13 | 0b00100, 14 | 0b00000, 15 | 0b00000,], 16 | [0b10000, 17 | 0b00000, 18 | 0b00000, 19 | 0b00000, 20 | 0b00001,], 21 | [0b10000, 22 | 0b00000, 23 | 0b00100, 24 | 0b00000, 25 | 0b00001,], 26 | [0b10001, 27 | 0b00000, 28 | 0b00000, 29 | 0b00000, 30 | 0b10001,], 31 | [0b10001, 32 | 0b00000, 33 | 0b00100, 34 | 0b00000, 35 | 0b10001,], 36 | [0b10001, 37 | 0b00000, 38 | 0b10001, 39 | 0b00000, 40 | 0b10001,]] 41 | 42 | def diceRoll(): 43 | return randint(0,5) 44 | 45 | def drawSprite(number): 46 | sprite = sprites[number] 47 | for i, row in enumerate(sprite): 48 | cb.set_row(i, row) 49 | 50 | if __name__ == '__main__': 51 | cb = CodeBug() 52 | cb.clear() 53 | while True: 54 | if cb.get_input("A"): 55 | cb.clear() 56 | time.sleep(.5) 57 | drawSprite(diceRoll()) 58 | time.sleep(1) 59 | 60 | 61 | 62 | -------------------------------------------------------------------------------- /examples/randomNumber.py: -------------------------------------------------------------------------------- 1 | # only needed for testing 2 | import os 3 | import sys 4 | parentdir = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) 5 | sys.path.insert(0, parentdir) 6 | 7 | from codebug_tether import CodeBug 8 | import time 9 | from random import randint 10 | 11 | if len(sys.argv) != 3: 12 | print "Give two numbers as arguments" 13 | sys.exit(1) 14 | 15 | def diceRoll(): 16 | return randint(1,6) 17 | 18 | if __name__ == '__main__': 19 | cb = CodeBug('/dev/tty.usbmodemfa141') 20 | cb.clear() 21 | delay = 0.2 22 | while True: 23 | if cb.get_input("A"): 24 | number = str(randint(int(sys.argv[1]), int(sys.argv[2]))) 25 | for i in range(len(number) * 5 + 5): 26 | cb.write_text(5 - i, 0, number) 27 | time.sleep(delay) 28 | time.sleep(1) -------------------------------------------------------------------------------- /examples/snake.py: -------------------------------------------------------------------------------- 1 | # only needed for testing 2 | import os 3 | import sys 4 | parentdir = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) 5 | sys.path.insert(0, parentdir) 6 | 7 | from codebug_tether import CodeBug 8 | import time 9 | 10 | gridSize = 4 11 | 12 | FOWARD = 0 13 | CLOCKWISE = 1 14 | ANTICLOCKWISE = -1 15 | 16 | NORTH = 0 17 | EAST = 1 18 | SOUTH = 2 19 | WEST = 3 20 | 21 | directions = ["NORTH","EAST","SOUTH","WEST"] 22 | 23 | movement = WEST 24 | # direction = FOWARD 25 | 26 | snakeDirections = [WEST,WEST,WEST] 27 | 28 | counter = 0 29 | levelcounter = 0 30 | headX = 2 31 | headY = 2 32 | snakeLength = len(snakeDirections) 33 | tailX = headX + snakeLength -1 34 | tailY = headY 35 | gameOver = False 36 | 37 | # debug_directions = [FOWARD,CLOCKWISE,CLOCKWISE,FOWARD,FOWARD,CLOCKWISE,CLOCKWISE,FOWARD,ANTICLOCKWISE,ANTICLOCKWISE,FOWARD,FOWARD,FOWARD] 38 | 39 | if __name__ == '__main__': 40 | cb = CodeBug('/dev/tty.usbmodemfa141') 41 | cb.clear() 42 | delay = 0.2 43 | for i, x in enumerate(snakeDirections): 44 | cb.set_led(headX+i,headY, 1) 45 | cb.set_led(headX+1,headY, 1) 46 | 47 | while not gameOver: 48 | if counter % 2500000 == 2490000: 49 | if cb.get_input("A"): 50 | # if debug_directions[0] == ANTICLOCKWISE: 51 | if movement == NORTH: 52 | movement = WEST 53 | else: 54 | movement += ANTICLOCKWISE 55 | 56 | elif cb.get_input("B"): 57 | # elif debug_directions[0] == CLOCKWISE: 58 | movement = (movement+CLOCKWISE)%4 59 | # del debug_directions[0] 60 | 61 | print directions[movement] 62 | print directions[snakeDirections[-1]] 63 | 64 | snakeDirections = [movement] + snakeDirections 65 | if movement == NORTH: 66 | headY += 1 67 | elif movement == EAST: 68 | headX += 1 69 | elif movement == SOUTH: 70 | headY -= 1 71 | else: 72 | headX -= 1 73 | 74 | if headX > -1 and headX <= gridSize and headY > -1 and headY <= gridSize: 75 | if cb.get_led(headX, headY): 76 | print "You hit yourself!" 77 | gameOver = True 78 | 79 | cb.set_led(headX, headY, 1) 80 | 81 | if levelcounter%10 != 2: 82 | del snakeDirections[-1] 83 | cb.set_led(tailX, tailY, 0) 84 | if snakeDirections[-1] == NORTH: 85 | tailY += 1 86 | elif snakeDirections[-1] == EAST: 87 | tailX += 1 88 | elif snakeDirections[-1] == SOUTH: 89 | tailY -= 1 90 | else: 91 | tailX -= 1 92 | levelcounter +=1 93 | else: 94 | print "You hit a wall!" 95 | gameOver = True 96 | 97 | counter +=1 98 | -------------------------------------------------------------------------------- /examples/tweets.py: -------------------------------------------------------------------------------- 1 | # -*- encoding: utf-8 -*- 2 | """twitter demo for CodeBug Tether. 3 | Call with no arguments to pull latest tweets from home timeline. 4 | Call with string argument to search for that term 5 | """ 6 | # only needed for testing 7 | import os 8 | import sys 9 | parentdir = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) 10 | sys.path.insert(0, parentdir) 11 | 12 | import time 13 | import threading 14 | import sys 15 | import os 16 | try: 17 | import twitter # http://mike.verdone.ca/twitter/ 18 | except ImportError: 19 | print("You need to install Python Twitter Tools " 20 | "(http://mike.verdone.ca/twitter/).") 21 | sys.exit(1) 22 | from codebug_tether import CodeBug 23 | 24 | 25 | UPDATE_INTERVAL = 60 26 | 27 | CONSUMER_KEY = "" 28 | CONSUMER_SECRET = "" 29 | # CONSUMER_KEY = "" 30 | # CONSUMER_SECRET = "" 31 | 32 | OAUTH_TOKEN = "" 33 | OAUTH_TOKEN_SECRET = "" 34 | 35 | 36 | class NoTweetsError(Exception): 37 | pass 38 | 39 | 40 | class TwitterTicker(object): 41 | def __init__(self, codebug, oauth_token, oauth_secret, search_term=None): 42 | self.twitter = twitter.Twitter( 43 | auth=twitter.OAuth( 44 | oauth_token, oauth_secret, 45 | CONSUMER_KEY, CONSUMER_SECRET) 46 | ) 47 | self.search_term = search_term 48 | self.codebug = codebug 49 | try: 50 | self.current_tweet = self.get_latest_tweet() 51 | except NoTweetsError: 52 | self.current_tweet = None 53 | self.display_tweet(self.current_tweet) 54 | self.timer = None 55 | 56 | # @property 57 | # def page(self): 58 | # return self._current_page 59 | 60 | # @page.setter 61 | # def page(self, new_page): 62 | # num_pages = 1 + int(len(self.current_tweet['text']) / PAGE_WIDTH) 63 | # new_page %= num_pages 64 | # self.display_tweet(self.current_tweet, new_page) 65 | 66 | def get_latest_tweet(self): 67 | if self.search_term is None: 68 | return self.twitter.statuses.home_timeline()[0] 69 | 70 | try: 71 | latest_tweets = self.twitter.search.tweets( 72 | q=self.search_term, 73 | since_id=self.current_tweet['id'])['statuses'] 74 | except AttributeError: 75 | latest_tweets = self.twitter.search.tweets( 76 | q=self.search_term)['statuses'] 77 | 78 | try: 79 | return latest_tweets[0] 80 | except IndexError: 81 | raise NoTweetsError() 82 | 83 | def update(self, event=None): 84 | """Updated the screen with the latest tweet.""" 85 | print("Updating...") 86 | try: 87 | latest_tweet = self.get_latest_tweet() 88 | except NoTweetsError: 89 | return 90 | else: 91 | if self.current_tweet is None or \ 92 | latest_tweet['id'] != self.current_tweet['id']: 93 | self.current_tweet = latest_tweet 94 | self.display_tweet(self.current_tweet) 95 | 96 | def auto_update(self): 97 | self.update() 98 | # update again soon 99 | self.timer = threading.Timer(UPDATE_INTERVAL, self.auto_update) 100 | self.timer.start() 101 | 102 | def display_tweet(self, tweet, page=0): 103 | self._current_page = page 104 | text = tweet['text'] 105 | print("DISPLAYING TWEET", text) 106 | self.codebug.clear() 107 | delay = 0.05 108 | for i in range(len(text) * 5 + 5): 109 | self.codebug.write_text(5 - i, 0, text) 110 | time.sleep(delay) 111 | 112 | def close(self): 113 | if self.timer is not None: 114 | self.timer.cancel() 115 | self.cad.lcd.clear() 116 | self.cad.lcd.backlight_off() 117 | 118 | def next_page(self, event=None): 119 | self.page += 1 120 | 121 | def previous_page(self, event=None): 122 | self.page -= 1 123 | 124 | 125 | if __name__ == "__main__": 126 | try: 127 | search_term = sys.argv[1] 128 | except IndexError: 129 | search_term = None 130 | print("Using home timeline.") 131 | else: 132 | print("Searching for", search_term) 133 | 134 | twitter_creds = os.path.expanduser('~/.twitter_piface_demo_credentials') 135 | if not os.path.exists(twitter_creds): 136 | twitter.oauth_dance("CodeBug Tether Twitter", 137 | CONSUMER_KEY, 138 | CONSUMER_SECRET, 139 | twitter_creds) 140 | 141 | oauth_token, oauth_secret = twitter.read_token_file(twitter_creds) 142 | 143 | codebug = CodeBug() 144 | 145 | global twitterticker 146 | twitterticker = TwitterTicker(codebug, 147 | oauth_token, 148 | oauth_secret, 149 | search_term) 150 | twitterticker.auto_update() # start the updating process 151 | -------------------------------------------------------------------------------- /firmware/codebug_tether_v0.4.3.cbg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/codebugtools/codebug_tether/d2ac777f1e551959515840f9dd936dc2e039248f/firmware/codebug_tether_v0.4.3.cbg -------------------------------------------------------------------------------- /firmware/codebug_tether_v0.5.0.cbg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/codebugtools/codebug_tether/d2ac777f1e551959515840f9dd936dc2e039248f/firmware/codebug_tether_v0.5.0.cbg -------------------------------------------------------------------------------- /firmware/codebug_tether_v0.6.0.cbg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/codebugtools/codebug_tether/d2ac777f1e551959515840f9dd936dc2e039248f/firmware/codebug_tether_v0.6.0.cbg -------------------------------------------------------------------------------- /firmware/codebug_tether_v0.7.0.cbg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/codebugtools/codebug_tether/d2ac777f1e551959515840f9dd936dc2e039248f/firmware/codebug_tether_v0.7.0.cbg -------------------------------------------------------------------------------- /firmware/codebug_tether_v0.7.3.cbg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/codebugtools/codebug_tether/d2ac777f1e551959515840f9dd936dc2e039248f/firmware/codebug_tether_v0.7.3.cbg -------------------------------------------------------------------------------- /firmware/codebug_tether_v0.8.0.cbg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/codebugtools/codebug_tether/d2ac777f1e551959515840f9dd936dc2e039248f/firmware/codebug_tether_v0.8.0.cbg -------------------------------------------------------------------------------- /firmware/codebug_tether_v0.8.4.cbg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/codebugtools/codebug_tether/d2ac777f1e551959515840f9dd936dc2e039248f/firmware/codebug_tether_v0.8.4.cbg -------------------------------------------------------------------------------- /firmware/codebug_tether_v0.8.5.cbg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/codebugtools/codebug_tether/d2ac777f1e551959515840f9dd936dc2e039248f/firmware/codebug_tether_v0.8.5.cbg -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | pyserial 2 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | import sys 2 | from distutils.core import setup 3 | 4 | 5 | VERSION_FILE = 'codebug_tether/version.py' 6 | PY3 = sys.version_info[0] >= 3 7 | 8 | 9 | def get_version(): 10 | if PY3: 11 | version_vars = {} 12 | with open(VERSION_FILE) as f: 13 | code = compile(f.read(), VERSION_FILE, 'exec') 14 | exec(code, None, version_vars) 15 | return version_vars['__version__'] 16 | else: 17 | execfile(VERSION_FILE) 18 | return __version__ 19 | 20 | 21 | setup( 22 | name='codebug_tether', 23 | version=get_version(), 24 | description='Control CodeBug over Serial USB.', 25 | author='Thomas Preston', 26 | author_email='thomas.preston@openlx.org.uk', 27 | license='GPLv3+', 28 | url='https://github.com/codebugtools/codebug_tether', 29 | packages=['codebug_tether'], 30 | requires=['pyserial'], 31 | long_description=open('README.md').read() + open('CHANGELOG').read(), 32 | classifiers=[ 33 | "License :: OSI Approved :: GNU Affero General Public License v3 or " 34 | "later (AGPLv3+)", 35 | "Programming Language :: Python :: 3", 36 | "Development Status :: 5 - Production/Stable", 37 | "Intended Audience :: Developers", 38 | "Topic :: Software Development :: Libraries :: Python Modules", 39 | ], 40 | keywords='codebug tether raspberrypi openlx', 41 | ) 42 | -------------------------------------------------------------------------------- /tests.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # import os 3 | # import sys 4 | # parentdir = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) 5 | # sys.path.insert(0, parentdir) 6 | import time 7 | import serial 8 | import struct 9 | import unittest 10 | from codebug_tether.core import CodeBug 11 | from codebug_tether.sprites import (Sprite, StringSprite) 12 | 13 | 14 | class TestCodeBug(unittest.TestCase): 15 | 16 | def setUp(self): 17 | self.codebug = CodeBug() 18 | 19 | def test_get_input(self): 20 | # configure as inputs 21 | for i in range(7): 22 | self.codebug.set_leg_io(i, 1) 23 | # and just print them 24 | for i in ['A', 'B'] + list(range(8)): 25 | print("Input {} is {}".format(i, self.codebug.get_input(i))) 26 | 27 | def test_set_output(self): 28 | num_outputs = 8 29 | for i in range(num_outputs): 30 | self.codebug.set_leg_io(i, 0) # set to output 31 | for i in range(num_outputs): 32 | self.codebug.set_output(i, 1) # set to ON 33 | 34 | # check that they are all on 35 | for i in range(num_outputs): 36 | self.assertEqual( 37 | self.codebug.get_output(i), 38 | 1, 39 | 'self.codebug.get_output({}) != 1'.format(i)) 40 | 41 | # then turn off again 42 | for i in range(num_outputs): 43 | self.codebug.set_output(i, 0) # set to OFF 44 | 45 | # def test_set_leg_io(self): 46 | # self.codebug.set_leg_io(0, 0) 47 | # self.codebug.set_leg_io(1, 1) 48 | # self.codebug.set_leg_io(2, 0) 49 | # self.codebug.set_leg_io(3, 1) 50 | # self.codebug.set_leg_io(4, 0) 51 | # self.codebug.set_leg_io(5, 1) 52 | # self.codebug.set_leg_io(6, 0) 53 | # self.codebug.set_leg_io(7, 1) 54 | # value = struct.unpack('B', 55 | # self.codebug.get(CHANNEL_INDEX_IO_DIRECTION))[0] 56 | # self.assertEqual(value, 0xAA) 57 | 58 | # self.codebug.set_leg_io(0, 1) 59 | # self.codebug.set_leg_io(1, 0) 60 | # self.codebug.set_leg_io(2, 1) 61 | # self.codebug.set_leg_io(3, 0) 62 | # self.codebug.set_leg_io(4, 1) 63 | # self.codebug.set_leg_io(5, 0) 64 | # self.codebug.set_leg_io(6, 1) 65 | # self.codebug.set_leg_io(7, 0) 66 | # value = struct.unpack('B', 67 | # self.codebug.get(CHANNEL_INDEX_IO_DIRECTION))[0] 68 | # self.assertEqual(value, 0x55) 69 | 70 | # # safely back to inputs 71 | # for i in range(7): 72 | # self.codebug.set_leg_io(i, 1) 73 | 74 | def test_clear(self): 75 | self.codebug.clear() 76 | rows = struct.unpack('B'*5, self.codebug.get_bulk(0, 5)) 77 | self.assertEqual(rows, (0,)*5) 78 | 79 | def test_set_row(self): 80 | for test_value in (0x0A, 0x15): 81 | for i in range(5): 82 | self.codebug.set_row(i, test_value) 83 | rows = self.codebug.get_bulk(0, 5) 84 | self.assertEqual(rows, bytes((test_value,)*5)) 85 | self.codebug.clear() 86 | 87 | def test_get_row(self): 88 | for test_value in (0x0A, 0x15): 89 | self.codebug.set_bulk(0, bytes([test_value]*5)) 90 | for i in range(5): 91 | self.assertEqual(self.codebug.get_row(i), test_value) 92 | self.codebug.clear() 93 | 94 | def test_set_col(self): 95 | for i in range(5): 96 | self.codebug.set_col(i, 0x0A) 97 | rows = struct.unpack('B'*5, self.codebug.get_bulk(0, 5)) 98 | self.assertEqual(rows, (0x00, 0x1F, 0x00, 0x1F, 0x00)) 99 | self.codebug.clear() 100 | 101 | for i in range(5): 102 | self.codebug.set_col(i, 0x15) 103 | rows = struct.unpack('B'*5, self.codebug.get_bulk(0, 5)) 104 | self.assertEqual(rows, (0x1F, 0x00, 0x1F, 0x00, 0x1F)) 105 | self.codebug.clear() 106 | 107 | def test_get_col(self): 108 | self.codebug.set_bulk(0, bytes((0x00, 0x1F, 0x00, 0x1F, 0x00))) 109 | for i in range(5): 110 | self.assertEqual(self.codebug.get_col(i), 0x0A) 111 | self.codebug.clear() 112 | self.codebug.set_bulk(0, bytes((0x1F, 0x00, 0x1F, 0x00, 0x1F))) 113 | for i in range(5): 114 | self.assertEqual(self.codebug.get_col(i), 0x15) 115 | self.codebug.clear() 116 | 117 | def test_set_pixel(self): 118 | self.codebug.clear() 119 | for y in range(5): 120 | for x in range(5): 121 | self.codebug.set_pixel(x, y, 1) 122 | value = struct.unpack('B', self.codebug.get(y))[0] 123 | self.assertEqual(value, 1 << (4-x)) 124 | self.codebug.set_pixel(x, y, 0) 125 | 126 | def test_get_pixel(self): 127 | self.codebug.clear() 128 | for y in range(5): 129 | for x in range(5): 130 | for i in range(2): 131 | self.codebug.set_pixel(x, y, i) 132 | get_value = self.codebug.get_pixel(x, y) 133 | self.assertEqual(get_value, i) 134 | 135 | def test_get_set_buffer(self): 136 | v = bytes(range(255)) 137 | self.codebug.set_buffer(0, bytes(v)) 138 | self.assertEqual(self.codebug.get_buffer(0, len(v)), v) 139 | v = bytes(range(100)) 140 | self.codebug.set_buffer(0, bytes(v), 100) 141 | self.assertEqual(self.codebug.get_buffer(0, 255), 142 | bytes(range(100))+bytes(range(100))+bytes(range(100+100, 255))) 143 | self.assertEqual(self.codebug.get_buffer(0, 101, 100), 144 | bytes(range(100))+bytes((range(255)[200],))) 145 | 146 | def test_draw_sprite(self): 147 | self.codebug.clear() 148 | 149 | def fill_sprite(s): 150 | for x in range(s.width): 151 | for y in range(s.height): 152 | s.set_pixel(x, y, 1) 153 | 154 | sprite = Sprite(4, 4) 155 | fill_sprite(sprite) 156 | 157 | self.codebug.draw_sprite(0, 0, sprite) 158 | self.assertEqual(self.codebug.get_row(4), 0x00) 159 | self.assertEqual(self.codebug.get_row(3), 0x1E) 160 | self.assertEqual(self.codebug.get_row(2), 0x1E) 161 | self.assertEqual(self.codebug.get_row(1), 0x1E) 162 | self.assertEqual(self.codebug.get_row(0), 0x1E) 163 | 164 | self.codebug.draw_sprite(1, 1, sprite) 165 | self.assertEqual(self.codebug.get_row(4), 0x0F) 166 | self.assertEqual(self.codebug.get_row(3), 0x0F) 167 | self.assertEqual(self.codebug.get_row(2), 0x0F) 168 | self.assertEqual(self.codebug.get_row(1), 0x0F) 169 | self.assertEqual(self.codebug.get_row(0), 0x00) 170 | 171 | sprite = Sprite(2, 3) 172 | fill_sprite(sprite) 173 | self.codebug.draw_sprite(0, 0, sprite) 174 | self.assertEqual(self.codebug.get_row(4), 0x00) 175 | self.assertEqual(self.codebug.get_row(3), 0x00) 176 | self.assertEqual(self.codebug.get_row(2), 0x18) 177 | self.assertEqual(self.codebug.get_row(1), 0x18) 178 | self.assertEqual(self.codebug.get_row(0), 0x18) 179 | 180 | sprite = Sprite(3, 3) 181 | fill_sprite(sprite) 182 | sprite.set_pixel(1, 2, 0) # key the sprite 183 | 184 | self.codebug.draw_sprite(0, 0, sprite) 185 | self.assertEqual(self.codebug.get_row(4), 0x00) 186 | self.assertEqual(self.codebug.get_row(3), 0x00) 187 | self.assertEqual(self.codebug.get_row(2), 0x14) 188 | self.assertEqual(self.codebug.get_row(1), 0x1C) 189 | self.assertEqual(self.codebug.get_row(0), 0x1C) 190 | 191 | self.codebug.draw_sprite(2, 2, sprite) 192 | self.assertEqual(self.codebug.get_row(4), 0x05) 193 | self.assertEqual(self.codebug.get_row(3), 0x07) 194 | self.assertEqual(self.codebug.get_row(2), 0x07) 195 | self.assertEqual(self.codebug.get_row(1), 0x00) 196 | self.assertEqual(self.codebug.get_row(0), 0x00) 197 | 198 | hello_str = StringSprite('Hello!') 199 | self.codebug.draw_sprite(0, 0, hello_str) 200 | self.assertEqual(self.codebug.get_row(4), 0x12) 201 | self.assertEqual(self.codebug.get_row(3), 0x12) 202 | self.assertEqual(self.codebug.get_row(2), 0x1E) 203 | self.assertEqual(self.codebug.get_row(1), 0x12) 204 | self.assertEqual(self.codebug.get_row(0), 0x12) 205 | self.codebug.draw_sprite(-7, 0, hello_str) 206 | self.assertEqual(self.codebug.get_row(4), 0x03) 207 | self.assertEqual(self.codebug.get_row(3), 0x11) 208 | self.assertEqual(self.codebug.get_row(2), 0x19) 209 | self.assertEqual(self.codebug.get_row(1), 0x01) 210 | self.assertEqual(self.codebug.get_row(0), 0x1B) 211 | 212 | 213 | class TestSprites(unittest.TestCase): 214 | 215 | def test_string_sprite(self): 216 | expected = [[1, 1, 1, 1, 1], 217 | [0, 0, 1, 0, 0], 218 | [0, 0, 1, 0, 0], 219 | [1, 1, 0, 0, 0], 220 | [0, 0, 0, 0, 0], 221 | [0, 1, 1, 0, 0], 222 | [1, 0, 1, 1, 0], 223 | [1, 0, 1, 1, 0], 224 | [1, 0, 1, 0, 0], 225 | [0, 0, 0, 0, 0], 226 | [1, 0, 0, 0, 1], 227 | [1, 1, 1, 1, 1], 228 | [1, 0, 0, 0, 0], 229 | [0, 0, 0, 0, 0], 230 | [0, 0, 0, 0, 0], 231 | [1, 0, 0, 0, 1], 232 | [1, 1, 1, 1, 1], 233 | [1, 0, 0, 0, 0], 234 | [0, 0, 0, 0, 0], 235 | [0, 0, 0, 0, 0], 236 | [0, 1, 1, 0, 0], 237 | [1, 0, 0, 1, 0], 238 | [1, 0, 0, 1, 0], 239 | [0, 1, 1, 0, 0], 240 | [0, 0, 0, 0, 0]] 241 | s = StringSprite("hello") 242 | self.assertEqual(s.pixel_state, expected) 243 | 244 | def test_rotate90(self): 245 | 246 | def fill_sprite(s): 247 | for x in range(s.width): 248 | for y in range(s.height): 249 | s.set_pixel(x, y, 1) 250 | 251 | s = Sprite(5, 5) 252 | # key the sprite so that looks like this: 253 | # 1 1 0 1 1 254 | # 1 1 0 1 1 255 | # 1 1 1 1 0 256 | # 1 1 1 1 1 257 | # 1 1 1 1 1 258 | fill_sprite(s) 259 | s.set_pixel(2, 4, 0) 260 | s.set_pixel(2, 3, 0) 261 | s.set_pixel(4, 2, 0) 262 | expected = [[1, 1, 1, 1, 1], 263 | [1, 1, 1, 1, 1], 264 | [1, 1, 1, 0, 0], 265 | [1, 1, 1, 1, 1], 266 | [1, 1, 0, 1, 1]] 267 | self.assertEqual(s.pixel_state, expected) 268 | 269 | # rotate 90deg 270 | s2 = s.clone() 271 | s2.rotate90(1) 272 | expected = [[1, 1, 1, 1, 1], 273 | [1, 1, 1, 1, 1], 274 | [0, 1, 1, 1, 1], 275 | [1, 1, 0, 1, 1], 276 | [1, 1, 0, 1, 1]] 277 | self.assertEqual(s2.pixel_state, expected) 278 | 279 | # rotate 180deg 280 | s2 = s.clone() 281 | s2.rotate90(2) 282 | expected = [[1, 1, 0, 1, 1], 283 | [1, 1, 1, 1, 1], 284 | [0, 0, 1, 1, 1], 285 | [1, 1, 1, 1, 1], 286 | [1, 1, 1, 1, 1]] 287 | self.assertEqual(s2.pixel_state, expected) 288 | 289 | # rotate 270deg 290 | s2 = s.clone() 291 | s2.rotate90(3) 292 | expected = [[1, 1, 0, 1, 1], 293 | [1, 1, 0, 1, 1], 294 | [1, 1, 1, 1, 0], 295 | [1, 1, 1, 1, 1], 296 | [1, 1, 1, 1, 1]] 297 | self.assertEqual(s2.pixel_state, expected) 298 | 299 | def test_invert(self): 300 | 301 | def fill_sprite(s): 302 | for x in range(s.width): 303 | for y in range(s.height): 304 | s.set_pixel(x, y, 1) 305 | 306 | s = Sprite(5, 5) 307 | # key the sprite so that looks like this: 308 | # 1 1 0 1 1 309 | # 1 1 0 1 1 310 | # 1 1 1 1 0 311 | # 1 1 1 1 1 312 | # 1 1 1 1 1 313 | fill_sprite(s) 314 | s.set_pixel(2, 4, 0) 315 | s.set_pixel(2, 3, 0) 316 | s.set_pixel(4, 2, 0) 317 | expected = [[1, 1, 1, 1, 1], 318 | [1, 1, 1, 1, 1], 319 | [1, 1, 1, 0, 0], 320 | [1, 1, 1, 1, 1], 321 | [1, 1, 0, 1, 1]] 322 | self.assertEqual(s.pixel_state, expected) 323 | 324 | s2 = s.clone() 325 | s2.invert_vertical() 326 | expected = [[1, 1, 1, 1, 1], 327 | [1, 1, 1, 1, 1], 328 | [0, 0, 1, 1, 1], 329 | [1, 1, 1, 1, 1], 330 | [1, 1, 0, 1, 1]] 331 | self.assertEqual(s2.pixel_state, expected) 332 | 333 | s2 = s.clone() 334 | s2.invert_horizontal() 335 | expected = [[1, 1, 0, 1, 1], 336 | [1, 1, 1, 1, 1], 337 | [1, 1, 1, 0, 0], 338 | [1, 1, 1, 1, 1], 339 | [1, 1, 1, 1, 1]] 340 | self.assertEqual(s2.pixel_state, expected) 341 | 342 | 343 | if __name__ == "__main__": 344 | unittest.main() 345 | --------------------------------------------------------------------------------