RedBoard Python Code

Version 0.1.8, 22nd September 2020, @Approx_Eng

This is a clean re-write of the Python code to drive the Red Robotics RedBoard (get one from https://www.tindie.com/products/redrobotics/redboard/) and its associated I2C connected display and motor expansion boards. Proper docs will appear in time, but for now:

Installing the library

I strongly recommend using a virtual environment, and never installing with sudo - this board and software doesn't need it and it'll just trip you up later!

Install pre-requisite system packages

From a clean headless raspbian installation you'll need the following additional packages installed, use this command to get them all in one go:

> sudo apt install libtiff5 libopenjp2-7-dev fonts-dejavu libpython3-dev libjpeg-dev pigpiod

Get with pip

Simplest option:

> pip3 install redboard

Note - this code requires Python 3, at least version 3.6.

Building from source

If you want to fiddle with the library you can clone it from here and use it directly:

> git clone https://github.com/ApproxEng/RedBoard.git
> virtualenv --python=python3.7 venv
> source venv/bin/activate
> cd RedBoard/src/python
> python setup.py develop

Initialisation

import redboard
r = redboard.RedBoard()

Driving motors

# Set first built-in motor driver to full speed forwards
r.m0 = 1
# Set second built-in motor driver to half speed reverse
r.m1 = 0.5
# Print out current motor speeds
print(r.m0, r.m1)
# If you've got an MX2 expansion connected you can address those motors too.
# i.e. to drive the first motor on the first connected MX2 board
r.m2 = 1
# You can use 'motor' rather than 'm' if you want to be more verbose
r.motor0 = 1
# You can configure motors to invert their direction, handy if your wiring
# wasn't perfect the first time:
r.m1_invert = True

Driving servos

# Set the servo on pin 20 to neutral position
r.s20 = 0
# Set the servo on pin 22 to extreme negative position
r.s22 = -1
# Get the pulse width range for the servo on pin 21
print(r.s21_config)
# prints (500, 2500)
# Set the pulse width range for that servo to use a bit less of the potential
# maximum range, servos vary in what range they'll actually accept
r.s21_config = 600, 2400
# read the current servo position
print(r.s21)

Reading from the ADC channels

# Read the battery level
print(r.adc0)
# Read the other channels
print(r.adc1, r.adc2, r.adc3)
# Read the divisor used to convert readings into voltage
print(r.adc0_divisor)
# (prints 1100 for the battery channel, 7891 for the others by default)
# Set the divisor, use this to calibrate the ADCs if required
r.adc0_divisor=1200

Set the onboard LED

# Set by hue, saturation, value. Hue is a circular quantity, so you can use any value (it'll
# be converted into the 0.0-1.0 range by taking only the positive fractional part). Saturation
# and value should be in 0.0-1.0 range.
from time import sleep
for h in range(0,100):
    r.led0 = h/100, 1, 0.1
    sleep(0.1)
# If you want white, that's just any colour with saturation set to 0:
r.led0 = 0, 0, 1
# Change the brightness, the default value is 0.6 which is reasonable for most uses, a value of
# 1.0 can be quite dazzling.
r.led0_brightness = 0.4
# Change the saturation compensation, higher values make paler colours more colourful,
# the default value is 2, setting to 0 will only allow you to show shades of white
r.led0_saturation = 3
# Change the gamma compensation, this changes how brightness is mapped onto a curve, and
# is set to 2 for the board by default, this should give you a smooth brightness change but you
# can override it if you really want to for some reason
r.led0_gamma = 1.9
# You can also set colour from any of the named CSS4 colours
r.led0 = 'pink'
# If for some reason you want to get or set as RGB rather than HSV you can, i.e. for red:
# Note that gamma, saturation, and brightness are still applied if set, so using RGB values
# is exactly equivalent to using the corresponding HSV ones, i.e. in this case RGB of 1,0,0
# is exactly the same as HSV of 0,1,1
r.led0_rgb = 1.0, 0.0, 0.0

You can find the available named colours at https://www.w3.org/TR/css-color-4/#named-colors

Showing the configuration and test GUI

The redboard library comes with a text-based GUI which allows you to drive any attached motors and servos, show the values of any analogue inputs, and calibrate all of these. Motors can be set to reverse or not, servos can have their maximum and minimum pulse widths configured, and ADC channels can be set against a known voltage. This configuration is printed to the console when you exit the GUI as a YAML file, you can then load this into a Python dict and set the config property on the board in your own code from that dict.

> redboard-gui

Note that this command might not appear if you have an early version of pip installed, if you've installed the redboard package but don't have this option try updating pip, uninstalling and reinstalling the redboard package.

Using MX2 motor expansion boards without the RedBoard

# Initialise an MX2 board, default address is 0x30, no jumpers bridged
mx = redboard.MX2()
# Provides motor 0 and 1, use the same way as the RedBoard
mx.m0 = 1.0
mx.m1_invert = True
print(mx.m1)
# etc etc...

Use an attached OLED expansion to show text

First install some fonts!

> sudo apt install fonts-dejavu

Now create a display object and use it:

d = redboard.Display()
d.text(line1='Hello', line2='Python', line3='World')

Using an attached servo expander

Because the really useful header on the RedBoard+ has exactly the right pins to add one of those 16 channel servo expanders based on the PCA9685, I've added a driver for that board to this library:

expander = redboard.PCA9685()
expander.servo3 = 0.4

This works exactly the same way as the built-in servo properties on the regular RedBoard driver class, it just gives you another 16 of them to play with (0 to 15). Remember to power your expansion board properly, 16 servos can pull quite a lot of current!

You can also launch a GUI similar to that for the main RedBoard for the servo expander with pca9685-gui, this will allow you to test all the servos on the expander and configure minimum and maximum pulse ranges for each one. Because the driver uses hwsupport, it handles the same configuration mechanism as the RedBoard for save and load of per-servo settings.

Use with boards like this one from AdaFruit (or similar, much cheaper, ones from ebay!) https://learn.adafruit.com/16-channel-pwm-servo-driver

Save and restore configuration

The RedBoard object exposes its configuration as a dict containing the following:

• Motor invert true / false per motor
• ADC divisors per ADC
• Servo pulse ranges per servo pin

To get the current config as a python dict:

r.config

To set the config from a dict you just do:

r.config = new_config

Typically you'd save this out to a YAML file or similar and use it to load your configuration rather than having to put it into your code every time, but you could just set it directly.