conecube mode is alternating white & conecube color

main.py

@@ -7,16 +7,15 @@
 import neopixel
 from rainbowio import colorwheel
 
-
+from microcontroller import watchdog as w
+from watchdog import WatchDogMode
+w.timeout=1.0 
+w.mode = WatchDogMode.RESET
 '''
 #############################################
-######  
 ######  INPUT MAP
-######  
 ######  Alliance: [pin7]
 ######  Alliance: 1 = blue, 0 = red
-###### 
-###### 
 ######  Input mapping for light display: 
 ######  [pin13][pin12][pin11][pin10][pin9]
 ###### 
@@ -28,14 +27,11 @@
 ######  00011   3       cube mode   display_Cube
 ######  00100   4       cone acq.   blinkingCone
 ######  00101   5       cube acq.   blinkingCube
-######  00110   6       cone mode   display_Cone
-######  
-######  
-######  
+######  00110   6       cone mode   display_Cone 
 #############################################
 
 #############################################
-######  setup board output & neopixel light strip objects
+######  setup vars
 #############################################
 '''
 pixel_pin = board.D5
@@ -48,49 +44,38 @@
 
 conecube_length = 10
 current_mode_length = 20-conecube_length
-
 movingRainbow = 0
+current_time = time.time()
 
 mode = 31
-
 '''
 #############################################
-######  setup pins for input
+######  setup input
 #############################################
 '''
-
-#pin7
 pin_conecube = DigitalInOut(board.D7)
 pin_conecube.direction = Direction.INPUT
 pin_conecube.pull = Pull.DOWN
 
-#pin9
 pin9 = DigitalInOut(board.D9)
 pin9.direction = Direction.INPUT
 pin9.pull = Pull.DOWN
 
-#pin10
 pin10 = DigitalInOut(board.D10)
 pin10.direction = Direction.INPUT
 pin10.pull = Pull.DOWN
 
-#pin11
 pin11 = DigitalInOut(board.D11)
 pin11.direction = Direction.INPUT
 pin11.pull = Pull.DOWN
 
-#pin12
 pin12 = DigitalInOut(board.D12)
 pin12.direction = Direction.INPUT
 pin12.pull = Pull.DOWN
 
-#pin13
 pin13 = DigitalInOut(board.D13)
 pin13.direction = Direction.INPUT
 pin13.pull = Pull.DOWN
-
-
-
 '''
 #############################################
 ######  color display functions
@@ -138,44 +123,32 @@ def disabled():
         pixels.show()
         wait_and_check(wait)
 
-def disabled_with_auto():
+def disabled_with_auto(color):
     for i in range(num_pixels):
-        pixels[i]=(20, 50, 20)
+        pixels[i]=color
     for countdown in range(steps, 1, -1):
         pixels.brightness = countdown/steps
         pixels.show()
         wait_and_check(wait)
-
     for countup in range(1, steps, 1):
         pixels.brightness = countup/steps
         pixels.show()
         wait_and_check(wait)
 
-def blinkingCube():
-    for cube in range(current_mode_length):
-        pixels[cube]=(145, 0, 255)
-    pixels.show()
-    wait_and_check(0.3)
-    for cube in range(current_mode_length):
-        pixels[cube]=(0, 0, 0)
-    pixels.show()
-    wait_and_check(0.2)
-
-def blinkingCone():
-    for cone in range(current_mode_length):
-        pixels[cone]=(255, 165, 0)
-    pixels.show()
-    wait_and_check(0.3)
-    for cone in range(current_mode_length):
-        pixels[cone]=(0, 0, 0)
-    pixels.show()
-    wait_and_check(0.2)
-
 def display_cone_cube(color):
-    for i in range(20-conecube_length, 20, 1):
-        pixels[i]=color
-
-
+    global current_time 
+    if time.time() - current_time < 0.25:
+        return
+    if current_time % 2 == 0:
+        for i in range(20-conecube_length, 20, 1):
+            if i >= (20-conecube_length)+conecube_length/2: pixels[i]=color
+            else: pixels[i]=(255,255,255)
+    else:
+        for i in range(20-conecube_length, 20, 1):
+            if i >= (20-conecube_length)+conecube_length/2: pixels[i]=(255,255,255)
+            else: pixels[i]=color
+    current_time = time.time()
+
 def moving_rainbow(switch):    
     global movingRainbow
     length = 0
@@ -192,24 +165,8 @@ def moving_rainbow(switch):
         pixels.show()
     movingRainbow = movingRainbow+1
 
-'''
-#############################################
-######  get current input from robot
-#############################################
-'''
-
 def read_current_mode():
-    temp = int(pin9.value)
-    temp1 = int(pin10.value)<<1
-    temp2 = int(pin11.value)<<2
-    temp3 = int(pin12.value)<<3
-    temp4 = int(pin13.value)<<4
-    return (temp+temp1+temp2+temp3+temp4)
-
-'''
-#########################################################
-#######   get current input from robot for cone/cube
-'''
+    return int(pin9.value)+int(pin10.value<<1)+int(pin11.value<<2)+int(pin12.value<<3)+int(pin13.value<<4) #(temp+temp1+temp2+temp3+temp4)
 
 def update_conecube_mode():
     if pin_conecube.value == 1:
@@ -222,22 +179,33 @@ class ModeChangedException(Exception):
     pass
 
 def wait_and_check(durationS):
+    w.feed()
     if mode == read_current_mode():
         time.sleep(durationS)
     else:
         raise ModeChangedException("Mode changed")
 
-#############################################
-######  main loop
-#############################################
+def unknown(len):
+    for i in range(len):
+        pixels[i]=(0, 255, 0)
+    for countdown in range(steps, 1, -1):
+        pixels.brightness = countdown/steps
+        pixels.show()
+        wait_and_check(wait)
+    for countup in range(1, steps, 1):
+        pixels.brightness = countup/steps
+        pixels.show()
+        wait_and_check(wait)
+
+def display_Cone():
+    for i in range(15, 20, 1):
+        pixels[i]=(255, 165, 0)
+    pixels.show()
 
 def main():
     global mode
-    # Read mode and alliance from pins
     mode = read_current_mode()
-
     try:    
-        #Select display option
         if mode == 31:
             no_code()
         elif mode == 1:
@@ -247,52 +215,15 @@ def main():
         elif mode == 3:
             moving_rainbow(False)
         elif mode == 4:
-            disabled_with_auto()
-        elif mode == 5: #arm in position
+            disabled_with_auto((20, 50, 20))
+        elif mode == 5:
             moving_rainbow(True)
+        elif mode == 6:
+            disabled_with_auto((0, 150, 0))
         else:
-            no_code()
+            unknown(min(mode,20))
     except ModeChangedException:
-        # Mode changed, restart loop
         pass
 
 while True:
-    main()
-
-
-####### EXTRAS ########
-
-'''def lowBattery():
-    for lowBattery in range(20):
-        pixels[lowBattery]=(0, 255, 0)
-    pixels.show()
-    wait_and_check(5/count)
-    for lowBattery in range(20):
-        pixels[lowBattery]=(240, 70, 0)
-    pixels.show()
-    wait_and_check(1)
-
-    if count < 4:
-        for lowBattery in range(20):
-            pixels[lowBattery]=(0, 255, 0)
-        pixels.show()
-        wait_and_check(5/count)
-        for lowBattery in range(20):
-            pixels[lowBattery]=(240, 70, 0)
-        pixels.show()
-        wait_and_check(1)
-
-    elif count >= 4 and count >= 8:
-        for lowBattery in range(20):
-            pixels[lowBattery]=(240, 70, 0)
-        pixels.show()
-        wait_and_check(5/(count-3))
-        for lowBattery in range(20):
-            pixels[lowBattery]=(255, 0, 0)
-        pixels.show()
-        wait_and_check(1)
-
-    else:
-        pixels[lowBattery]=(255, 0, 0)'''
-
-
+    main()

safemode.py

@@ -0,0 +1,3 @@
+import microcontroller
+
+microcontroller.reset()