166 lines
5.7 KiB
Python
166 lines
5.7 KiB
Python
import utime
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from machine import Pin
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class MTS102:
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"""MTS102（三脚二档钮子开关）"""
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def __init__(self, pin, pull_down=False):
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"""
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:param pin: 引脚编号
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:param pull_down: 引脚下拉电阻（断开为低电平，接通为高电平），默认为False。若使用下拉电阻，因钮子接通后断开可能存留电荷/漏电故需在引脚和GND并联1K～10K欧电阻
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"""
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if not isinstance(pull_down, bool):
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raise TypeError("pull_down数据类型应为布尔")
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self.pull_down = pull_down
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# 尝试初始化引脚
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try:
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self.pin = Pin(
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pin, Pin.IN, Pin.PULL_DOWN if self.pull_down else Pin.PULL_UP
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)
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except Exception as exception:
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raise RuntimeError(f"初始化引脚发生异常，{str(exception)}") from exception
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# 初始化上一次检测时间
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self._last_time = utime.ticks_ms()
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# 初始化上一次检测状态
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self._last_state = self._get_state()
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def _get_state(self):
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"""获取状态：0为断开，1为接通"""
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return self.pin.value() ^ (not self.pull_down)
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def _debounce(self):
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"""去抖"""
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current_time = utime.ticks_ms()
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current_state = self._get_state()
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# 若当前与上一次检测间隔大于等于防抖时间则更新时间，又若状态不同则更新状态
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if utime.ticks_diff(current_time, self._last_time) >= 20:
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if current_state != self._last_state:
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self._last_time = current_time
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self._last_state = current_state
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return self._last_state
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@property
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def switched(self):
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"""是否接通"""
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return self._debounce() == 1
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class WS2812:
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"""WS2812（可编程 RGB LED）"""
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def __init__(self, pin=16, led_beads=1):
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"""
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:param pin: 引脚编号，RP2350ZERO板载WS2812使用引脚16
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:param led_beads: LED灯珠数
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"""
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if not isinstance(led_beads, int):
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raise TypeError("led_beads数据类型应为整数")
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if not led_beads >= 1:
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raise ValueError("led_beads数值应大于等于1")
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self.led_beads = led_beads
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from neopixel import NeoPixel
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# 尝试初始化LED
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try:
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self.led = NeoPixel(Pin(pin, Pin.OUT), self.led_beads)
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except Exception as exception:
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raise RuntimeError(f"初始化LED发生异常，{str(exception)}") from exception
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def set_colors(self, colors):
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"""
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设置灯珠颜色
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:param colors: 包含每颗灯珠RGB的颜色列表
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"""
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if not isinstance(colors, list):
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raise TypeError("colors数据类型应为列表")
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if len(colors) != self.led_beads:
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raise ValueError("colors列表长度应与LED灯珠数一致")
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for bead_idx, bead_color in enumerate(colors):
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if not isinstance(bead_color, tuple):
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raise TypeError("灯珠颜色数据类型应为元组")
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if len(bead_color) != 3:
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raise ValueError("灯珠颜色长度应为3")
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for channel_idx, channel_value in enumerate(bead_color):
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if not isinstance(channel_value, int):
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raise TypeError("通道数据数据类型应为整数")
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if not 0 <= channel_value <= 255:
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raise ValueError("通道数据数值应在0～255范围内")
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for bead_idx, bead_color in enumerate(colors):
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# 将RGB转为GRB并设置灯珠颜色
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self.led[bead_idx] = (bead_color[1], bead_color[0], bead_color[2])
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# LED刷新
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self.led.write()
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def iridesce(self, hue_offset=20):
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"""通过HSV颜色空间生成渐变炫彩效果
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:param hue_offset: 色相偏移角度
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"""
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if not isinstance(hue_offset, int):
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raise TypeError("hue_offset数据类型应为整数")
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if not 0 <= hue_offset <= 60:
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raise ValueError("hue_offset数值应在0～60范围内")
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# 初始化HSV颜色空间参数，其中hue为色相，saturation为饱和度，value为亮度
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hue, saturation, value = 0, 255, 128
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while True:
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colors = []
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for bead_idx in range(self.led_beads):
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# 色相
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hue = (hue + bead_idx * hue_offset) % 360
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# 色域
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region = hue // 60
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# 色域内相对位置
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remainder = (hue - region * 60) * 255 // 60
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# 最小分量
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P = (value * (255 - saturation)) // 255
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# 过渡值
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transition = (value * remainder) // 255
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# 根据色域将HSV转为RGB并新增至颜色列表
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colors.append(
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{
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0: (value, transition, P), # 由红色渐变为黄色
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1: (value - transition, value, P), # 由黄色渐变为绿色
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2: (P, value, transition), # 由绿色渐变为青色
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3: (P, value - transition, value), # 由青色渐变为蓝色
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4: (transition, P, value), # 由蓝色渐变为洋红色
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5: (value, P, value - transition), # 由洋红色渐变为红色
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}[region]
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)
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self.set_colors(colors)
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# 根据色域动态调整色相步长
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hue = hue + [1, 1, 1, 1, 1, 1][region]
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utime.sleep_ms(100)
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class Servo:
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"""舵机（基类）"""
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# 运动轨迹
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_TRAJECTORIES = {
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"linear": lambda x: (x, 1), # 表示当前进度和速度
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}
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