combined1_ICM20948_RGB_SerLCD.py

#!/usr/bin/env python3
#-----------------------------------------------------------------------------
# combined1_RGB_SerLCD_ICM20948.py
#
# Combined example to control the RGB LED on the SerLCD
# based on the accelerometer readings on the ICM20948.
#------------------------------------------------------------------------
#
# Written by  SparkFun Electronics, March 2020
# 
# This python library supports the SparkFun Electroncis qwiic 
# qwiic sensor/board ecosystem on a Raspberry Pi (and compatible) single
# board computers. 
#
# More information on qwiic is at https://www.sparkfun.com/qwiic
#
# Do you like this library? Help support SparkFun. Buy a board!
#
#==================================================================================
# Copyright (c) 2019 SparkFun Electronics
#
# Permission is hereby granted, free of charge, to any person obtaining a copy 
# of this software and associated documentation files (the "Software"), to deal 
# in the Software without restriction, including without limitation the rights 
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 
# copies of the Software, and to permit persons to whom the Software is 
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all 
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 
# SOFTWARE.
#==================================================================================

from __future__ import print_function
import qwiic_serlcd
import qwiic_icm20948
import time
import sys

#create global variable to keep track of color when debugging
ledColor = 1

def runExample():

    print("\nSparkFun SerLCD and 9DoF ICM-20948 Sensor Example\n")
    myLCD = qwiic_serlcd.QwiicSerlcd()
    IMU = qwiic_icm20948.QwiicIcm20948()

    if myLCD.connected == False:
        print("The Qwiic SerLCD device isn't connected to the system. Please check your connection", \
            file=sys.stderr)
        return

    if IMU.connected == False:
        print("The Qwiic ICM20948 device isn't connected to the system. Please check your connection", \
              file=sys.stderr)
        return


    myLCD.setBacklight(255, 255, 255) # Set backlight to bright white
    myLCD.setContrast(5)  # Set contrast. Lower to 0 for higher contrast.
    myLCD.clearScreen()   # Clear Screen - this moves the cursor to the home position as well
    myLCD.print("white")  # Write to color name to SerLCD
    
    time.sleep(0.5) # give a sec for system messages to complete
    
    IMU.begin()

    while True:
        #declare ledColor a global variable inside here to access it 
        global ledColor
        
        if IMU.dataReady():
            IMU.getAgmt() # read all axis and temp from sensor, note this also updates all instance variables

            #the following are the threshold values for each axis is pointing right-side up
            
            # anything above IMU.azRaw > 16000 is red
            # ledColor = 1
            aZPos = 16000
            
            # anything below IMU.azRaw < -16000 is blue
            # ledColor = 2
            aZNeg = -16000
            
            # anything above IMU.ayRaw > 16100 is green
            # ledColor = 3
            ayPos = 16100
            
            # anything below IMU.ayRaw < -16000 is green
            # ledColor = 4
            ayNeg = -16000
            
            # anything above IMU.axRaw > 16000 is magenta
            # ledColor = 5
            axPos = 16000
            
            # anything below IMU.axRaw < -16400 is cyan
            # ledColor = 6
            axNeg = -16400

            #adjust color of the LED based on the accelerometer's reading
            if IMU.azRaw > aZPos:
                # Set LED red
                myLCD.setBacklight(255, 0, 0) # Set backlight to bright white
                ledColor = 1
                myLCD.clearScreen()
                myLCD.print("red")
            
            elif IMU.azRaw < aZNeg:
                # Set LED blue
                myLCD.setBacklight(0, 0, 255) # Set backlight to bright white
                ledColor = 2
                myLCD.clearScreen()
                myLCD.print("blue")

            elif IMU.ayRaw > ayPos:
                # Set LED yellow
                myLCD.setBacklight(255, 255, 0) # Set backlight to bright white
                ledColor = 3
                myLCD.clearScreen()
                myLCD.print("yellow")
                    
            elif IMU.ayRaw < ayNeg:
                # Set LED green
                myLCD.setBacklight(0, 255, 0) # Set backlight to bright white
                ledColor = 4
                myLCD.clearScreen()
                myLCD.print("green")
            
            elif IMU.axRaw > axPos:
                # Set LED magenta
                myLCD.setBacklight(255, 0, 255) # Set backlight to bright white
                ledColor = 5
                myLCD.clearScreen()
                myLCD.print("magenta")

            elif IMU.axRaw < axNeg:
                # Set LED cyan
                myLCD.setBacklight(0, 255, 255) # Set backlight to bright white
                ledColor = 6
                myLCD.clearScreen()
                myLCD.print("cyan")
            
            if ledColor == 1:
                print("ledColor = red" ,'\n', '\n')
            elif ledColor == 2:
                print("ledColor = blue" ,'\n', '\n')
            elif ledColor == 3:
                print("ledColor = yellow" ,'\n', '\n')
            elif ledColor == 4:
                print("ledColor = green" ,'\n', '\n')
            elif ledColor == 5:
                print("ledColor = magenta" ,'\n', '\n')
            elif ledColor == 6:
                print("ledColor = cyan" ,'\n', '\n')
                
            aX = IMU.axRaw
            aY = IMU.ayRaw
            aZ = IMU.azRaw
            gX = IMU.gxRaw
            gY = IMU.gyRaw
            gZ = IMU.gzRaw
            mX = IMU.mxRaw
            mY = IMU.myRaw
            mZ = IMU.mzRaw
            
            # Remove the `#` for the following lines to 
            # display accelerometer readings on SerLCD
            
            #myLCD.setCursor(8,0)
            #myLCD.print("aX")
            #myLCD.print(str(aX))
            
            #myLCD.setCursor(0,1)
            #myLCD.print("aY")
            #myLCD.print(str(aY))
            
            #myLCD.setCursor(8,1)
            #myLCD.print("aZ")
            #myLCD.print(str(aZ))
            
            print(\
             ' aX:', '{: 4.1f}'.format(aX)\
            , ' \t, aY:', '{: 4.1f}'.format(aY)\
            , '\t, aZ:', '{: 4.1f}'.format(aZ)\
            , '\n gX:', '{: 4.1f}'.format(gX)\
            , '\t, gY:', '{: 4.1f}'.format(gY)\
            , '\t, gZ:', '{: 4.1f}'.format(gZ)\
            , '\n mX:', '{: 4.1f}'.format(mX)\
            , '\t, mY:', '{: 4.1f}'.format(mY)\
            , '\t, mZ:', '{: 4.1f}'.format(mZ)\
            , '\n'\
            )
            
            time.sleep(1) # small delay so that the screen doesn't flicker
        else:
            print("Waiting for data")
            time.sleep(0.5)





if __name__ == '__main__':
    try:
        runExample()
    except (KeyboardInterrupt, SystemExit) as exErr:
        print("\nEnding Combined Example")
        sys.exit(0)