Closed
Description
Hi all,
I'm trying to connect my pixy2 to my adafruit metro m4 airlift lite. Right now I just want to test simple functions out like setting the led to change different colors so that I know the I2C communication is working.
Since there is no supported library that works with the pixy2 on circuit python, I am using the pixy2 API from Robert Lucian
https://github.com/RobertLucian/pixy2 and the modified version of the API that Evan Weinberg used in conjunction with his Sphero RVR https://github.com/emwdx/pixyRVRMetro.
Currently when I try to set the led color, I seem to be getting the error "extra keyword arguments given" where lines 208 and 44 are flagged. Line 44 is a line of code within the set_led function which seems to be the problem.
I'd be grateful for any help I can get. Thanks.
import board
import busio
import time
import struct
uart = busio.UART(board.D1, board.D0, baudrate=9600)
i2c = busio.I2C(board.SCL, board.SDA)
from adafruit_bus_device.i2c_device import I2CDevice
# The Pixy2 code is based on the work of Robert Lucian. Code here: https://github.com/RobertLucian/pixy2
class Pixy2:
def __init__(self, i2c, address):
self.address = address
self.i2c_device = I2CDevice(i2c, address)
self.blocks = []
def set_lamp(self, on):
"""
Turn on or off the Pixy2's lamp.
:param on: True or False on whether the Pixy2's lamps is on or off.
:return: Nothing.
"""
with self.i2c:
out = [174, 193, 22, 2, 1 if on else 0, 0]
for msg in out:
self.i2c_device.write(bytes(out), stop=False)
def set_led(self, red, green, blue):
"""
Set the Pixy2's RGB LED.
:param red: 0-255.
:param green: 0-255.
:param blue: 0-255.
:return: Nothing
"""
out = [174, 193, 20, 3, red, green, blue]
with self.i2c_device:
self.i2c_device.write(bytes(out), stop=False) # This is line 44
# Code below is commented out to save space.
'''
def get_resolution(self):
"""
Return the width and height of the camera.
:return: width, height (0-511). None if the checksum didn't match.
"""
out = [
# 2 sync bytes, type packet, length payload, unused type
174, 193, 12, 1, 0
]
with self.i2c_device:
self.i2c_device.write(bytes(out), stop = False)
inp = bytearray(10)
self.i2c_device.readinto(inp)
checksum = struct.unpack('<H', bytes(inp[4:6]))[0]
if checksum == sum(inp[6:10]):
width, height = struct.unpack('<HH', bytes(inp[6:10]))
return width, height
else:
return None
def get_version(self):
"""
Get the hardware and software version of the Pixy2.
:return: hw, sw
"""
out = [
# 2 sync bytes, type packet, length payload
174, 193, 14, 0
]
print('get version from pixy2')
with self.i2c_device:
self.i2c_device.write(bytes(out), stop = False)
inp = bytearray(14)
self.i2c_device.readinto(inp)
#hw = unpack_bytes(inp[6:8], big_endian=False)
hw = struct.unpack('H', bytes(inp[6:8]))[0]
major = inp[8]
minor = inp[9]
#build = unpack_bytes(inp[10:12], big_endian=False)
build = struct.unpack('H', bytes(inp[10:12]))[0]
fw_type = inp[12]
fw = '{}.{}.{}-{}'.format(major, minor, build, chr(fw_type))
return hw, fw
def get_fps(self):
"""
Get the Pixy2's camera FPS.
:return: The FPS as an integer.
"""
out = [
# 2 sync bytes, type packet, length payload
174, 193, 24, 0
]
#print('get fps from pixy2')
with self.i2c_device:
self.i2c_device.write(bytes(out), stop = False)
inp = bytearray(10)
self.i2c_device.readinto(inp)
fps = struct.unpack('<I', bytes(inp[6:10]))[0]
return fps
'''
def get_blocks(self, sigmap, maxblocks):
"""
Get detected blocks from the Pixy2.
:param sigmap: Indicates which signatures to receive data from.
0 for none, 255 for all, all the rest it's in between.
:param maxblocks: Maximum blocks to return.
0 for none, 255 for all of them, all the rest it's in between.
:return: signature, X center of block (px) (0-315), Y center of block (px) (0-207), width
of block (px) (0-316), height of block (px) (0-208), angle of color-code in degrees (-180 - 180)
w/ 0 if not a color code, tracking index (0-255), age or the number of frames this
block has been tracked for (0-255) - it stops incrementing at 255. Returned as a list of pairs.
:return: None if it hasn't detected any blocks or if the process has encountered errors.
"""
out = [174, 193, 32, 2, sigmap, maxblocks]
# 2 sync bytes, type packet, length payload,
# sigmap, max blocks to return
# print('detect pixy2 blocks')
with self.i2c_device:
self.i2c_device.write(bytes(out), stop=False)
result = bytearray(20)
self.i2c_device.readinto(result)
# for msg in result:
# print(int(msg))
type_packet = result[2]
if type_packet == 33:
payload_length = result[3]
inp = result[4:]
checksum = struct.unpack("<H", bytes(inp[0:2]))[0]
if checksum == sum(inp[2:]):
block_length = 14
num_blocks = payload_length // block_length
blocks = []
if num_blocks > 0:
for i in range(num_blocks):
data = struct.unpack(
"<5HhBB",
bytes(
inp[
(i * block_length + 2) : (i + 1) * block_length
+ 2
]
),
)
blocks.append(data)
# print('pixy2 detected {} blocks'.format(no_blocks))
self.blocks = blocks[0]
else:
self.blocks = []
return self.blocks
else:
# print('checksum doesn\'t match for the detected blocks')
self.blocks = []
return None
# print('pixy2 is busy or got into an error while reading blocks')
# self.blocks = []
return None
def isTracking(self):
if len(self.blocks) > 0:
return True
return False
# This was a data structure to better contain tracking information for driving.
class TrackingData:
def __init__(self, block):
if block != None:
self.x = block[1] / 315.0 # number from 0.0 to 1.0
self.y = block[2] / 207.0 # number from 0.0 to 1.0
self.width = block[3] # pixels
self.height = block[4] # pixels
else:
self.x = None # number from 0.0 to 1.0
self.y = None # number from 0.0 to 1.0
self.width = None # pixels
self.height = None # pixels
# Setting up the Pixy at its default address of 0x54
myPixy = Pixy2(i2c, 0x54)
# This is a visual confirmation that I2C is working by flashing the LEDs.
myPixy.set_led(255, 0, 0) # This is line 208
time.sleep(0.1)
myPixy.set_led(0, 255, 0)
time.sleep(0.1)
myPixy.set_led(0, 0, 255)
time.sleep(0.1)
myPixy.set_led(0, 0, 0)
time.sleep(0.1)Metadata
Metadata
Assignees
Labels
No labels