scripts/ledstripe.rb

   1 #!/usr/bin/env ruby
   2
   3 require "spi"
   4 require "ros"
   5 require 'wild_thumper/LedStripe'
   6
   7 class LPD8806
   8         def initialize(device, num_leds)
   9                 @spi = SPI.new(device: device)
  10                 @spi.driver.mode=[0b00]
  11                 @spi.speed=2e6
  12                 @num_leds = num_leds
  13                 self.latch()
  14                 @l = [[0, 0, 0]] * num_leds
  15                 self.update()
  16         end
  17
  18         def set(i, red=0, green=0, blue=0)
  19                 if red > 127 or green > 127 or blue > 127 or red < 0 or green < 0 or blue < 0
  20                         raise "Bad RGB Value"
  21                 end
  22                 @l[i] = [red, green, blue]
  23         end
  24
  25         def latch
  26                 @spi.xfer(txdata: (0...(@num_leds+31)/32).map { |i| 0 })
  27         end
  28
  29         def update
  30                 l = []
  31                 (0...@num_leds).each do |i|
  32                         red, green, blue = @l[i]
  33                         l.push(0x80 | green)
  34                         l.push(0x80 | red)
  35                         l.push(0x80 | blue)
  36                 end
  37                 @spi.xfer(txdata: l)
  38                 self.latch()
  39         end
  40 end
  41
  42 if __FILE__ == $0
  43         def test
  44                 puts "Starting.."
  45                 (0...16).each do |i|
  46                         stripe.set(i, 10, 0, 0)
  47                         stripe.update()
  48                         sleep(0.1)
  49                 end
  50                 (0...16).each do |i|
  51                         stripe.set(i, 0, 10, 0)
  52                         stripe.update()
  53                         sleep(0.1)
  54                 end
  55                 (0...16).each do |i|
  56                         stripe.set(i, 0, 0, 10)
  57                         stripe.update()
  58                         sleep(0.1)
  59                 end
  60                 (0...16).each do |i|
  61                         stripe.set(i, 0, 0, 0)
  62                 end
  63                 stripe.update()
  64         end
  65
  66         stripe = LPD8806.new("/dev/spidev1.0", 16)
  67         node = ROS::Node.new('wild_thumper/led_stripe')
  68         node.subscribe('led_stripe', Wild_thumper::LedStripe) do |msg|
  69                 msg.leds.each do |led|
  70                         stripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
  71                         stripe.update()
  72                 end
  73         end
  74
  75         while node.ok?
  76                 node.spin
  77         end
  78 end