mirror of
https://github.com/wpilibsuite/allwpilib
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dca59147e1
This also updates the bazel scripts to behave more like the C++ and Java examples, and updates the copybara scripts to be able to sync up `mostrobotpy`
46 lines
1.4 KiB
Python
46 lines
1.4 KiB
Python
#!/usr/bin/env python3
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#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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import wpilib
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import wpimath.units
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class MyRobot(wpilib.TimedRobot):
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def __init__(self) -> None:
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super().__init__()
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# SmartIO port 1
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self.led = wpilib.AddressableLED(1)
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# Reuse buffer
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# Default to a length of 60
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self.ledData = [wpilib.AddressableLED.LEDData() for _ in range(60)]
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self.led.setLength(len(self.ledData))
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# Set the data
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self.led.setData(self.ledData)
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# Create an LED pattern that will display a rainbow across
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# all hues at maximum saturation and half brightness
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self.rainbow = wpilib.LEDPattern.rainbow(255, 128)
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# Our LED strip has a density of 120 LEDs per meter
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self.kLedSpacing = 1 / 120.0
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# Create a new pattern that scrolls the rainbow pattern across the LED strip, moving at a
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# velocity of 1 meter per second.
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self.scrollingRainbow = self.rainbow.scrollAtAbsoluteVelocity(
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1,
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self.kLedSpacing,
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)
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def robotPeriodic(self) -> None:
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# Update the buffer with the rainbow animation
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self.scrollingRainbow.applyTo(self.ledData)
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# Set the LEDs
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self.led.setData(self.ledData)
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