255 lines
7.5 KiB
Python
255 lines
7.5 KiB
Python
import time
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from machine import Pin, PWM, ADC
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BREAKOUT_GARDEN_I2C_PINS = {"sda": 4, "scl": 5}
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PICO_EXPLORER_I2C_PINS = {"sda": 20, "scl": 21}
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HEADER_I2C_PINS = {"sda": 20, "scl": 21}
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PICOVISION_I2C_PINS = {"sda": 6, "scl": 7}
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# Motor and encoder directions
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NORMAL_DIR = 0x00
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REVERSED_DIR = 0x01
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BREAKOUT_GARDEN_SPI_SLOT_FRONT = 0
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BREAKOUT_GARDEN_SPI_SLOT_BACK = 1
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PICO_EXPLORER_SPI_ONBOARD = 2
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class Analog:
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def __init__(self, pin, amplifier_gain=1, resistor=0, offset=0):
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self.gain = amplifier_gain
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self.resistor = resistor
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self.offset = offset
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self.pin = ADC(pin)
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def read_voltage(self):
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return max((((self.pin.read_u16() * 3.3) / 65535) + self.offset) / self.gain, 0.0)
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def read_current(self):
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if self.resistor > 0:
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return self.read_voltage() / self.resistor
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else:
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return self.read_voltage()
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class AnalogMux:
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def __init__(self, addr0, addr1=None, addr2=None, en=None, muxed_pin=None):
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self.addr0_pin = Pin(addr0, Pin.OUT)
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self.addr1_pin = Pin(addr1, Pin.OUT) if addr1 is not None else None
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self.addr2_pin = Pin(addr2, Pin.OUT) if addr2 is not None else None
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self.en_pin = Pin(en, Pin.OUT) if en is not None else None
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self.max_address = 0b001
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if addr1 is not None:
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self.max_address = 0b011
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if addr2 is not None:
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self.max_address = 0b111
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self.pulls = [None] * (self.max_address + 1)
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self.muxed_pin = muxed_pin
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def select(self, address):
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if address < 0:
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raise ValueError("address is less than zero")
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elif address > self.max_address:
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raise ValueError("address is greater than number of available addresses")
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else:
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if self.muxed_pin and self.pulls[address] is None:
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self.muxed_pin.init(Pin.IN, None)
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self.addr0_pin.value(address & 0b001)
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if self.addr1_pin is not None:
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self.addr1_pin.value(address & 0b010)
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if self.addr2_pin is not None:
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self.addr2_pin.value(address & 0b100)
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if self.en_pin is not None:
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self.en_pin.value(1)
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if self.muxed_pin and self.pulls[address] is not None:
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self.muxed_pin.init(Pin.IN, self.pulls[address])
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def disable(self):
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if self.en_pin is not None:
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self.en_pin.value(0)
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else:
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raise RuntimeError("there is no enable pin assigned to this mux")
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def configure_pull(self, address, pull=None):
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if address < 0:
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raise ValueError("address is less than zero")
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elif address > self.max_address:
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raise ValueError("address is greater than number of available addresses")
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else:
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self.pulls[address] = pull
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def read(self):
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if self.muxed_pin is not None:
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return self.muxed_pin.value()
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else:
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raise RuntimeError("there is no muxed pin assigned to this mux")
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class Button:
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def __init__(self, button, invert=True, repeat_time=200, hold_time=1000):
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self.invert = invert
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self.repeat_time = repeat_time
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self.hold_time = hold_time
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self.pin = Pin(button, pull=Pin.PULL_UP if invert else Pin.PULL_DOWN)
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self.last_state = False
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self.pressed = False
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self.pressed_time = 0
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def read(self):
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current_time = time.ticks_ms()
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state = self.raw()
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changed = state != self.last_state
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self.last_state = state
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if changed:
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if state:
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self.pressed_time = current_time
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self.pressed = True
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self.last_time = current_time
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return True
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else:
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self.pressed_time = 0
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self.pressed = False
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self.last_time = 0
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if self.repeat_time == 0:
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return False
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if self.pressed:
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repeat_rate = self.repeat_time
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if self.hold_time > 0 and current_time - self.pressed_time > self.hold_time:
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repeat_rate /= 3
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if current_time - self.last_time > repeat_rate:
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self.last_time = current_time
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return True
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return False
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def raw(self):
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if self.invert:
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return not self.pin.value()
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else:
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return self.pin.value()
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@property
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def is_pressed(self):
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return self.raw()
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class RGBLED:
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def __init__(self, r, g, b, invert=True):
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self.invert = invert
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self.led_r = PWM(Pin(r))
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self.led_r.freq(1000)
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self.led_g = PWM(Pin(g))
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self.led_g.freq(1000)
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self.led_b = PWM(Pin(b))
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self.led_b.freq(1000)
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def set_rgb(self, r, g, b):
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if self.invert:
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r = 255 - r
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g = 255 - g
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b = 255 - b
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self.led_r.duty_u16(int((r * 65535) / 255))
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self.led_g.duty_u16(int((g * 65535) / 255))
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self.led_b.duty_u16(int((b * 65535) / 255))
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# A simple class for handling Proportional, Integral & Derivative (PID) control calculations
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class PID:
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def __init__(self, kp, ki, kd, sample_rate):
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self.kp = kp
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self.ki = ki
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self.kd = kd
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self.setpoint = 0
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self._error_sum = 0
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self._last_value = 0
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self._sample_rate = sample_rate
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def calculate(self, value, value_change=None):
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error = self.setpoint - value
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self._error_sum += error * self._sample_rate
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if value_change is None:
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rate_error = (value - self._last_value) / self._sample_rate
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else:
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rate_error = value_change
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self._last_value = value
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return (error * self.kp) + (self._error_sum * self.ki) - (rate_error * self.kd)
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class Buzzer:
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def __init__(self, pin):
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self.pwm = PWM(Pin(pin))
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def set_tone(self, freq, duty=0.5):
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if freq < 50.0: # uh... https://github.com/micropython/micropython/blob/af64c2ddbd758ab6bac0fcca94c66d89046663be/ports/rp2/machine_pwm.c#L105-L119
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self.pwm.duty_u16(0)
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return False
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self.pwm.freq(freq)
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self.pwm.duty_u16(int(65535 * duty))
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return True
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class ShiftRegister:
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def __init__(self, clk, lat, dat):
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self.clk = Pin(clk, Pin.OUT)
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self.lat = Pin(lat, Pin.OUT)
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self.dat = Pin(dat, Pin.IN)
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def __iter__(self):
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self.lat.off()
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self.lat.on()
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for _ in range(8):
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yield self.dat.value()
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self.clk.on()
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self.clk.off()
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def __getitem__(self, k):
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return list(self)[k]
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def read(self):
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out = 0
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for bit in self:
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out <<= 1
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out += bit
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return out
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def is_set(self, mask):
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return self.read() & mask == mask
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# A basic wrapper for PWM with regular on/off and toggle functions from Pin
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# Intended to be used for driving LEDs with brightness control & compatibility with Pin
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class PWMLED:
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def __init__(self, pin, invert=False):
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self._invert = invert
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self._led = PWM(Pin(pin, Pin.OUT))
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self._led.freq(1000)
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self._brightness = 0
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self.brightness(0)
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def brightness(self, brightness):
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brightness = min(1.0, max(0.0, brightness))
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self._brightness = brightness
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if self._invert:
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brightness = 1.0 - brightness
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self._led.duty_u16(int(65535 * brightness))
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def on(self):
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self.brightness(1)
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def off(self):
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self.brightness(0)
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def toggle(self):
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self.brightness(1 - self._brightness)
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