Display, buttons, LEDs

Yozh contains a buzzer, two NeoPixel LEDs in the back and an 240x135 color TFT screen and three buttons on the top plate, for interaction with the user. To control them, use the functions below.

Headlights

set_lights(power)

Turns the headlights on/off. Power should be between 0-100; setting the power to zero turns the headlights off.

Note: headlights are capable of being controlled individuallly, and in fact one could set them to any color (they are RGBW Neopixels).mHowever, at the moment this is not supported by yozh library.

LEDs

set_led_L(color)

set_led_R(color)

These commands set the left (respectively, right) LED to given color. Color must be one of the following:

a tuple of 3 numbers, showing the values of Red, Green, and Blue colors, each ranging between 0–255, e.g. bot.set_led_L( (255,0,0)) to set the left LED red.
A 32-bit integer, usually written in the hexadecimal form: 0xRRGGBB, where each letter stands for a hexadecimal digit 0…F. E.g. 0xFF0000 is the same as (255,0,0) ande defines the red color.
One of predefined colors, e.g. RED. Full list of predefined colors is: RED, GREEN, BLUE, YELLOW, WHITE, OFF. You can also define your own colors, e.g.

ORANGE=0xFFA500

bot.set_led_L(ORANGE)

set_leds(color_l, color_r): Set colors of both LEDs at the same time. Parameter color_r is optional; if omitted, both LEDs will be set to the same color.

Buzzer

buzz(freq, dur=0.5): Buzz at given frequency (in hertz) for given duration (in seconds). Second parameter is optional; if omitted, duration of 0.5 seconds is used.

Buttons

wait_for(button): Waits until the user presses the given button. There are three possible pre-defined buttons: BUTTON_A, BUTTON_B, BUTTON_C.

is_pressed(button): Returns True if given button is currently pressed and False otherwise.

choose_button(): Waits until the user presses one of the buttons. This function returns string literal A, B, or C depending on the pressed button:

bot.set_text(1, "Press any button")
#wait until user presses one of buttons
if (bot.choose_button()=="A"):
    # do something
else:
    # do something else

Display

The easiest way to interact with the TFT display is by using the commands below.

clear_display(hide_battery = False): Clears all text and graphics from display. Optional parameter hide_battery indicates whether the battery level indicator should be removed as well; by default, it is false, so the battery level indicator is preserved.

set_text(line_number, message, font, color)

Print given message on a given line of the display. Line number can range 0–5. Parameters font and color are optional: if omitted, default font and white color are used.

The basic use of this command is

bot.set_text(0, "Press A to continue")

You can print multi-line messages, separating lines by \n, e.g.

bot.set_text(1, "Put robot on black \nand press A to continue")

This will print Put robot on black on line 1 and and press A to continue on line 2.

To use a different font, use optional parameter font. Posible choices are:

FONT_REGULAR: usual font
FONT_BOLD: slightly larger bold font
FONT_SMALL: really small font, useful for long messages

update_battery_display(): Updates the battery level indicator.

Advanced users may also use any commands from CircuitPython displayio module to put text and graphics on the TFT display as described in https://learn.adafruit.com/circuitpython-display-support-using-displayio. The display object of the robot can be accessed as bot.display, and the root group of the display is bot.canvas. E.g., one could use

label=bitmap_label.Label(font = FONT_BOLD, text="DANGER", color = 0xFF0000, scale = 2, x=50, y=30)
bot.canvas.append(label)
bot.display.refresh()

Note that display.auto_refresh property is set to False, so you need to explicitly call display.refresh() function. Also, the battery level indicator is not automatically updated: you need to call update_battery_display() to update it.