Initial commit
Nothing has been tested yet.
This commit is contained in:
@@ -0,0 +1,480 @@
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#!/usr/bin/env python3
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# coding: utf-8
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import smbus
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import time,random
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import math
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PI5Car_I2CADDR = 0x2B
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class Raspbot():
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def get_i2c_device(self, address, i2c_bus):
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self._addr = address
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if i2c_bus is None:
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return smbus.SMBus(1)
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else:
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return smbus.SMBus(i2c_bus)
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def __init__(self):
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# Create I2C device.
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self._device = self.get_i2c_device(PI5Car_I2CADDR, 0)
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#写数据
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def write_u8(self, reg, data):
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try:
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self._device.write_byte_data(self._addr, reg, data)
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except:
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print ('write_u8 I2C error')
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def write_reg(self, reg):
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try:
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self._device.write_byte(self._addr, reg)
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except:
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print ('write_u8 I2C error')
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def write_array(self, reg, data):
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try:
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# self._device.write_block_data(self._addr, reg, data)
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self._device.write_i2c_block_data(self._addr, reg, data)
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except:
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print ('write_array I2C error')
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#读数据
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def read_data_byte(self):
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try:
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buf = self._device.write_byte(self._addr)
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return buf
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except:
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print ('read_u8 I2C error')
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def read_data_array(self,reg,len):
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try:
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buf = self._device.read_i2c_block_data(self._addr,reg,len)
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return buf
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except:
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print ('read_u8 I2C error')
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#控制电机
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def Ctrl_Car(self, motor_id, motor_dir,motor_speed):
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try:
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if(motor_dir !=1)and(motor_dir != 0): #参数非法,方向默认前进
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motor_dir = 0
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if(motor_speed>255):
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motor_speed = 255
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elif(motor_speed<0):
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motor_speed = 0
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reg = 0x01
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data = [motor_id, motor_dir, motor_speed]
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self.write_array(reg, data)
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except:
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print ('Ctrl_Car I2C error')
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#控制电机正反(-255~255)
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def Ctrl_Muto(self, motor_id, motor_speed):
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try:
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if(motor_speed>255):
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motor_speed = 255
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if(motor_speed<-255):
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motor_speed = -255
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if(motor_speed < 0 and motor_speed >= -255): #速度如果是负数则后退
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motor_dir = 1
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else:motor_dir = 0
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reg = 0x01
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data = [motor_id, motor_dir, abs(motor_speed)]
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self.write_array(reg, data)
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except:
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print ('Ctrl_Car I2C error')
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#控制舵机
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def Ctrl_Servo(self, id, angle):
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try:
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reg = 0x02
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data = [id, angle]
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if angle < 0:
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angle = 0
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elif angle > 180:
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angle = 180
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if(id==2 and angle > 100):angle = 100
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self.write_array(reg, data)
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except:
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print ('Ctrl_Servo I2C error')
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#控制灯珠(全部)
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def Ctrl_WQ2812_ALL(self, state, color):
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try:
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reg = 0x03
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data = [state, color]
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if state < 0:
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state = 0
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elif state > 1:
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state = 1
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self.write_array(reg, data)
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except:
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print ('Ctrl_WQ2812 I2C error')
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#单独控制灯珠
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def Ctrl_WQ2812_Alone(self, number,state, color):
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try:
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reg = 0x04
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data = [number,state, color]
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if state < 0:
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state = 0
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elif state > 1:
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state = 1
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self.write_array(reg, data)
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except:
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print ('Ctrl_WQ2812_Alone I2C error')
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#控制亮度(全部)
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def Ctrl_WQ2812_brightness_ALL(self, R, G, B):
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try:
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reg = 0x08
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data = [R,G,B]
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if R >255:
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R =255
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if G > 255:
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G = 255
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if B >255:
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B=255
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self.write_array(reg, data)
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except:
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print ('Ctrl_WQ2812 I2C error')
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#单独灯珠亮度
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def Ctrl_WQ2812_brightness_Alone(self, number, R, G, B):
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try:
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reg = 0x09
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data = [number,R,G,B]
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if R >255:
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R =255
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if G > 255:
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G = 255
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if B >255:
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B=255
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self.write_array(reg, data)
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except:
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print ('Ctrl_WQ2812_Alone I2C error')
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#控制红外遥控器开关
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def Ctrl_IR_Switch(self, state):
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try:
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reg = 0x05
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data = [state]
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if state < 0:
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state = 0
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elif state > 1:
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state = 1
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self.write_array(reg, data)
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except:
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print ('Ctrl_IR_Switch I2C error')
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#控制蜂鸣器开关
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def Ctrl_BEEP_Switch(self, state):
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try:
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reg = 0x06
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data = [state]
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if state < 0:
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state = 0
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elif state > 1:
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state = 1
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self.write_array(reg, data)
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except:
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print ('Ctrl_BEEP_Switch I2C error')
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#控制超声波测距开关
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def Ctrl_Ulatist_Switch(self, state):
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try:
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reg = 0x07
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data = [state]
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if state < 0:
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state = 0
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elif state > 1:
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state = 1
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self.write_array(reg, data)
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except:
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print ('Ctrl_getDis_Switch I2C error')
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#控制灯珠特效
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class LightShow:
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def __init__(self):
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self.num_lights = 14
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self.last_val = 0
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self.MAX_TIME=999999
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self.bot=Raspbot()
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self.running = True
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def execute_effect(self, effect_name,effect_duration,speed,current_color):
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try:
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if effect_name == 'river':
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self.run_river_light(effect_duration,speed)
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elif effect_name == 'breathing':
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self.breathing_light(effect_duration,speed,current_color)
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elif effect_name == 'gradient':
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self.gradient_light(effect_duration,speed)
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elif effect_name == 'random_running':
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self.random_running_light(effect_duration,speed)
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elif effect_name == 'starlight':
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self.starlight_shimmer(effect_duration,speed)
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else:
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print("Unknown effect name.")
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except KeyboardInterrupt:
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self.turn_off_all_lights()
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self.running = False
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def turn_off_all_lights(self):
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self.bot.Ctrl_WQ2812_ALL(0, 0)
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def run_river_light(self,effect_duration,speed):
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# speed = 0.01
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colors = [0, 1, 2, 3, 4, 5, 6]
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color_index = 0
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end_time = time.time()
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while self.running and time.time() - end_time < effect_duration:
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for i in range(self.num_lights - 2):
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self.bot.Ctrl_WQ2812_Alone(i, 1, colors[color_index])
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self.bot.Ctrl_WQ2812_Alone(i+1, 1, colors[color_index])
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self.bot.Ctrl_WQ2812_Alone(i+2, 1, colors[color_index])
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time.sleep(speed)
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self.bot.Ctrl_WQ2812_ALL(0, 0)
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time.sleep(speed)
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color_index = (color_index + 1) % len(colors)
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self.turn_off_all_lights()
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def breathing_light(self, effect_duration,speed,current_color):
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breath_direction = 0
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breath_count = 0
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end_time = time.time()
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while self.running and time.time() - end_time < effect_duration:
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if current_color == 0: # Red
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r, g, b = breath_count, 0, 0
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elif current_color == 1: # Green
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r, g, b = 0, breath_count, 0
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elif current_color == 2: # Blue
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r, g, b = 0, 0, breath_count
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elif current_color == 3: # Yellow
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r, g, b = breath_count, breath_count, 0
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elif current_color == 4: # Purple
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r, g, b = breath_count, 0, breath_count
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elif current_color == 5: # Cyan
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r, g, b = 0, breath_count, breath_count
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elif current_color == 6: # White
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r, g, b = breath_count, breath_count, breath_count
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else:
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r, g, b = 0, 0, 0 # Default to black if invalid color code
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self.bot.Ctrl_WQ2812_brightness_ALL(r, g, b)
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time.sleep(speed)
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if breath_direction == 0:
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breath_count += 2
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if breath_count >= 255:
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breath_count=255
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breath_direction = 1
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else:
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breath_count -= 2
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if breath_count < 0:
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breath_direction = 0
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breath_count = 0
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self.turn_off_all_lights()
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def random_running_light(self,effect_duration,speed):
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# on_time = 0.01
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# off_time = 0.01
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end_time = time.time()
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while self.running and time.time() - end_time < effect_duration:
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for i in range(self.num_lights):
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color = random.randint(0, 6)
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self.bot.Ctrl_WQ2812_Alone(i, 1, color)
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time.sleep(speed)
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self.turn_off_all_lights()
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def starlight_shimmer(self,effect_duration,speed):
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min_lights_on = 1
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max_lights_on = 7
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colors = [0, 1, 2, 3, 4, 5, 6]
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end_time = time.time()
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while self.running and time.time() - end_time < effect_duration:
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for color in colors:
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start_time = time.time()
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while time.time() - start_time < 1:
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for i in range(self.num_lights):
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self.bot.Ctrl_WQ2812_Alone(i, 0, 0)
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lights_on = random.sample(range(self.num_lights), k=random.randint(min_lights_on, max_lights_on))
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for i in lights_on:
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self.bot.Ctrl_WQ2812_Alone(i, 1, color)
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time.sleep(speed)
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for i in range(self.num_lights):
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self.bot.Ctrl_WQ2812_Alone(i, 0, 0)
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self.turn_off_all_lights()
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def gradient_light(self, effect_duration, speed):
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grad_color = 0
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grad_index = 0
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end_time = time.time()
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while self.running and time.time() - end_time < effect_duration:
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if grad_color % 2 == 0:
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gt_red = random.randint(0, 255)
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gt_green = random.randint(0, 255)
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gt_blue = random.randint(0, 255)
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gt_green = self.rgb_remix(gt_green)
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gt_red, gt_green, gt_blue = self.rgb_remix_u8(gt_red, gt_green, gt_blue)
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grad_color += 1
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if grad_color == 1:
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if grad_index < 14:
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number = (grad_index % 14) + 1 # Adjusting for 1-based indexing
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self.bot.Ctrl_WQ2812_brightness_Alone(number, gt_red, gt_green, gt_blue)
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grad_index += 1
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if grad_index >= 14:
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grad_color = 2
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grad_index = 0
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elif grad_color == 3:
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if grad_index < 14:
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number = ((14 - grad_index) % 14) # Reverse mapping, adjusted for 1-based indexing
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self.bot.Ctrl_WQ2812_brightness_Alone(number, gt_red, gt_green, gt_blue)
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grad_index += 1
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if grad_index >= 14:
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grad_color = 0
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grad_index = 0
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time.sleep(speed)
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self.turn_off_all_lights()
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def rgb_remix(self, val):
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if abs(val - self.last_val) < val % 30:
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val = (val + self.last_val) % 255
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self.last_val = val % 255
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return self.last_val
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def rgb_remix_u8(self, r, g, b):
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if r > 50 and g > 50 and b > 50:
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index = random.randint(0, 2)
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if index == 0:
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r = 0
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elif index == 1:
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g = 0
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elif index == 2:
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b = 0
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return r, g, b
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def calculate_breath_color(self, color_code, breath_count):
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max_brightness = 255
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if color_code == 0: # Red
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return max_brightness, breath_count, 0
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elif color_code == 1: # Green
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return max_brightness, 0, breath_count
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elif color_code == 2: # Blue
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return max_brightness, 0, 0, breath_count
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elif color_code == 3: # Yellow
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return max_brightness, breath_count, breath_count, 0
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elif color_code == 4: # Purple
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return max_brightness, breath_count, 0, breath_count
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elif color_code == 5: # Cyan
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return max_brightness, 0, breath_count, breath_count
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elif color_code == 6: # White
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return max_brightness, breath_count, breath_count, breath_count
|
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else:
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return 0, 0, 0 # Default to black if invalid color code
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def stop(self):
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self.running = False
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# test
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#car = Raspbot()
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#读取巡线传感器地址 ,此值只有1位
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# track =car.read_data_array(0x0a,1)
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# track = int(track[0])
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# x1 = (track>>3)&0x01
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# x2 = (track>>2)&0x01
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# x3 = (track>>1)&0x01
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# x4 = (track)&0x01
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# print(track,x1,x2,x3,x4)
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# 读取超声传感器地址,此值只有2位
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# car.Ctrl_Ulatist_Switch(1)#open
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# time.sleep(1)
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# diss_H =car.read_data_array(0x1b,1)[0]
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# diss_L =car.read_data_array(0x1a,1)[0]
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# dis = diss_H<< 8 | diss_L
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# print(dis+"mm")
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# car.Ctrl_Ulatist_Switch(0)#close
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||||
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||||
#读取红外遥控的值
|
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# car.Ctrl_IR_Switch(1)
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||||
# time.sleep(3)
|
||||
# data =car.read_data_array(0x0c,1)
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# print(data)
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||||
# car.Ctrl_IR_Switch(0)
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||||
|
||||
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||||
#蜂鸣器测试
|
||||
# car.Ctrl_BEEP_Switch(1)
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||||
# time.sleep(1)
|
||||
# car.Ctrl_BEEP_Switch(0)
|
||||
# time.sleep(1)
|
||||
|
||||
|
||||
#电机测试
|
||||
# car.Ctrl_Car(0,0,150) #L1电机 前进 150速度
|
||||
# car.Ctrl_Car(1,0,150) #L2电机 前进 150速度
|
||||
# car.Ctrl_Car(2,0,150) #R1电机 前进 150速度
|
||||
# car.Ctrl_Car(3,0,150) #R2电机 前进 150速度
|
||||
# time.sleep(1)
|
||||
# car.Ctrl_Car(0,1,50) #L1电机 后退 50速度
|
||||
# time.sleep(1)
|
||||
# car.Ctrl_Car(0,0,0) #L1电机 停止
|
||||
# car.Ctrl_Car(1,0,0) #L2电机 停止
|
||||
# car.Ctrl_Car(2,0,0) #R1电机 停止
|
||||
# car.Ctrl_Car(3,0,0) #R2电机 停止
|
||||
|
||||
|
||||
#舵机测试
|
||||
# car.Ctrl_Servo(1,0) #s1 0度
|
||||
# car.Ctrl_Servo(2,180) #s2 180度
|
||||
# time.sleep(1)
|
||||
# car.Ctrl_Servo(1,180) #s1 180度
|
||||
# car.Ctrl_Servo(2,0) #s2 0度
|
||||
# time.sleep(1)
|
||||
|
||||
#灯条测试
|
||||
# car.Ctrl_WQ2812_ALL(1,0)#红色
|
||||
# time.sleep(1)
|
||||
# car.Ctrl_WQ2812_ALL(1,1)#绿色
|
||||
# time.sleep(1)
|
||||
# car.Ctrl_WQ2812_ALL(1,2)#蓝色
|
||||
# time.sleep(1)
|
||||
# car.Ctrl_WQ2812_ALL(1,3)#黄色
|
||||
# time.sleep(1)
|
||||
# car.Ctrl_WQ2812_ALL(0,0) #关闭
|
||||
|
||||
#单个灯测试
|
||||
# car.Ctrl_WQ2812_Alone(1,1,0)#1号红色
|
||||
# time.sleep(1)
|
||||
# car.Ctrl_WQ2812_Alone(2,1,3)#1号黄色
|
||||
# time.sleep(1)
|
||||
# car.Ctrl_WQ2812_Alone(1,0,3)#1号关
|
||||
# time.sleep(1)
|
||||
# car.Ctrl_WQ2812_Alone(14,1,2)#14号绿色
|
||||
# time.sleep(1)
|
||||
# car.Ctrl_WQ2812_ALL(0,0) #关闭
|
||||
|
||||
#控制亮度测试 全部
|
||||
# for i in range(255):
|
||||
# car.Ctrl_WQ2812_brightness_ALL(i,0,0)
|
||||
# time.sleep(0.01)
|
||||
|
||||
Reference in New Issue
Block a user