dancing-robot/led.py at main · Computing-Collective/dancing-robot · GitHub

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# Group: 24
# Names: Divy, Elio, Kelvin, Matthew

from constants import *


class LED:
    """
    Controls the RGB leds and the single color leds attached to the robot.
    The leds run in different sequences based on the tick count and refresh rate.
    """

    def __init__(self, led_arm_right, led_arm_left, led_top_left, led_top_right, led_top_mid):
        # RGB leds
        self.led_arm_right = led_arm_right
        self.led_arm_left = led_arm_left

        """
        Single color leds: these are all connected to the same ground
        so all of them will be on at the same time with the same brightness.
        The brightness is controlled by number of leds that are on.
        Brightness range = [0, 3]
        """
        self.led_top_left = led_top_left
        self.led_top_right = led_top_right
        self.led_top_mid = led_top_mid
        self.ticks = 0

    def refresh(self):
        if self.ticks == 1:
            # both red
            self.led_arm_left[0].value = True
            self.led_arm_left[1].value = False
            self.led_arm_left[2].value = False
            self.led_arm_right[0].value = True
            self.led_arm_right[1].value = False
            self.led_arm_right[2].value = False
            # brightness = 1
            self.led_top_left.value = True
            self.led_top_right.value = False
            self.led_top_mid.value = False

        elif self.ticks == REFRESH_RATE:
            # both green
            self.led_arm_left[0].value = False
            self.led_arm_left[1].value = True
            self.led_arm_left[2].value = False
            self.led_arm_right[0].value = False
            self.led_arm_right[1].value = True
            self.led_arm_right[2].value = False
            # brightness = 2
            self.led_top_left.value = True
            self.led_top_right.value = True
            self.led_top_mid.value = False

        elif self.ticks == REFRESH_RATE * 2:
            # both blue
            self.led_arm_left[0].value = False
            self.led_arm_left[1].value = False
            self.led_arm_left[2].value = True
            self.led_arm_right[0].value = False
            self.led_arm_right[1].value = False
            self.led_arm_right[2].value = True
            # brightness = 3
            self.led_top_left.value = True
            self.led_top_right.value = True
            self.led_top_mid.value = True

        elif self.ticks == REFRESH_RATE * 3:
            # both white
            self.led_arm_left[0].value = True
            self.led_arm_left[1].value = True
            self.led_arm_left[2].value = True
            self.led_arm_right[0].value = True
            self.led_arm_right[1].value = True
            self.led_arm_right[2].value = True
            # brightness = 0
            self.led_top_left.value = False
            self.led_top_right.value = False
            self.led_top_mid.value = False

        elif self.ticks == REFRESH_RATE * 4:
            self.ticks = 0

        self.ticks += 1