led animation

components/led_screen.py

@@ -1,33 +1,92 @@
 import wpilib
 
+from components.logo import logo, logo_num_rows
+
 
 class LEDScreen:
     led: wpilib.AddressableLED
 
     def __init__(self):
         self.led_length = 72
-        self.led_bottom = wpilib.AddressableLED.LEDData(255, 0, 0)
-        self.led_middle = wpilib.AddressableLED.LEDData(0, 255, 0)
-        self.led_top = wpilib.AddressableLED.LEDData(0, 0, 255)
+        self.led_row_length = int(self.led_length / 3)
+        self.led_bottom_row_colour = wpilib.AddressableLED.LEDData(255, 0, 0)
+        self.led_middle_row_colour = wpilib.AddressableLED.LEDData(0, 255, 0)
+        self.led_top_row_colour = wpilib.AddressableLED.LEDData(0, 0, 255)
+        self.led_raster = [
+            [wpilib.AddressableLED.LEDData() for _ in range(self.led_row_length)]
+            for _ in range(3)
+        ]
+        self.animating = False
+        self.IMAGE_ROWS_BETWEEN_LED_ROWS = 5
+        self.image = logo
+        self.image_num_rows = logo_num_rows
+        self.current_image_row = 0
+        # Move the image after this number of ticks
+        self.animation_period = 20
+        self.current_animation_cycle = 0
 
     def setup(self) -> None:
         self.led.setLength(self.led_length)
         self.led_rows = (
-            [self.led_bottom] * int(self.led_length / 3)
-            + [self.led_middle] * int(self.led_length / 3)
-            + [self.led_top] * int(self.led_length / 3)
+            [self.led_bottom_row_colour] * self.led_row_length
+            + [self.led_middle_row_colour] * self.led_row_length
+            + [self.led_top_row_colour] * self.led_row_length
         )
         self.led.setData(self.led_rows)
         self.led.start()
 
     def set_bottom_row(self, r, g, b) -> None:
-        self.led_bottom.setRGB(r, g, b)
+        self.led_bottom_row_colour.setRGB(r, g, b)
 
     def set_middle_row(self, r, g, b) -> None:
-        self.led_middle.setRGB(r, g, b)
+        self.led_middle_row_colour.setRGB(r, g, b)
 
     def set_top_row(self, r, g, b) -> None:
-        self.led_top.setRGB(r, g, b)
+        self.led_top_row_colour.setRGB(r, g, b)
+
+    def animate(self) -> None:
+        self.current_image_row = 0
+        self.load_row(self.current_image_row)
+        self.animating = True
+        self.led.setData(self.led_raster[0] + self.led_raster[1] + self.led_raster[2])
 
     def execute(self) -> None:
-        self.led.setData(self.led_rows)
+        if not self.animating:
+            self.led.setData(self.led_rows)
+        else:
+            # step to next set of raster lines, if it's time
+            self.current_animation_cycle = (
+                self.current_animation_cycle + 1
+            ) % self.animation_period
+            if self.current_animation_cycle == 0:
+                self.current_image_row = (
+                    self.current_image_row + 1
+                ) % self.image_num_rows
+                self.load_row(self.current_image_row)
+            self.led.setData(
+                self.led_raster[0] + self.led_raster[1] + self.led_raster[2]
+            )
+
+    def load_row(self, image_row) -> None:
+        second_image_row = (
+            image_row + self.IMAGE_ROWS_BETWEEN_LED_ROWS
+        ) % self.image_num_rows
+        third_image_row = (
+            second_image_row + self.IMAGE_ROWS_BETWEEN_LED_ROWS
+        ) % self.image_num_rows
+        for i in range(0, len(self.image[image_row])):
+            self.led_raster[0][i].setRGB(
+                self.image[image_row][i][0],
+                self.image[image_row][i][1],
+                self.image[image_row][i][2],
+            )
+            self.led_raster[1][i].setRGB(
+                self.image[second_image_row][i][0],
+                self.image[second_image_row][i][1],
+                self.image[second_image_row][i][2],
+            )
+            self.led_raster[2][i].setRGB(
+                self.image[third_image_row][i][0],
+                self.image[third_image_row][i][1],
+                self.image[third_image_row][i][2],
+            )