From e192c2d4290e5e074af767890580a73d7097ac44 Mon Sep 17 00:00:00 2001
From: Brendan Haines <brendan.haines@gmail.com>
Date: Mon, 2 Mar 2020 11:39:07 -0700
Subject: [PATCH] add ADC stuff

---
 Software/python/Pipfile      |   2 +
 Software/python/Pipfile.lock | 169 ++++++++++++++++++++++++++++++++++-
 Software/python/hwtest.py    |  50 ++++++++---
 3 files changed, 206 insertions(+), 15 deletions(-)

diff --git a/Software/python/Pipfile b/Software/python/Pipfile
index dd4d371..3937ec0 100644
--- a/Software/python/Pipfile
+++ b/Software/python/Pipfile
@@ -5,6 +5,7 @@ verify_ssl = true
 
 [dev-packages]
 pylint = "*"
+ipykernel = "*"
 
 [packages]
 numpy = "*"
@@ -12,6 +13,7 @@ matplotlib = "*"
 scipy = "*"
 adafruit-circuitpython-servokit = "*"
 adafruit-circuitpython-ads1x15 = "*"
+adafruit-blinka = "*"
 
 [requires]
 python_version = "3.6"
diff --git a/Software/python/Pipfile.lock b/Software/python/Pipfile.lock
index 7a0e081..ad8bd5d 100644
--- a/Software/python/Pipfile.lock
+++ b/Software/python/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "b602071939b8a8f86526a542668eea93da90e3162fcda91e38eb292e737593f7"
+            "sha256": "c325e5b1e34aed96d35c0501b5bae87e4afbdb9013334882dfbaf94b6460fa46"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -20,6 +20,7 @@
             "hashes": [
                 "sha256:977e8601790e7252ca29967c8e9ff2627f1b8290dad4343dfd5b697905ad7d3e"
             ],
+            "index": "pypi",
             "version": "==4.1.0"
         },
         "adafruit-circuitpython-ads1x15": {
@@ -258,6 +259,42 @@
             ],
             "version": "==2.3.3"
         },
+        "backcall": {
+            "hashes": [
+                "sha256:38ecd85be2c1e78f77fd91700c76e14667dc21e2713b63876c0eb901196e01e4",
+                "sha256:bbbf4b1e5cd2bdb08f915895b51081c041bac22394fdfcfdfbe9f14b77c08bf2"
+            ],
+            "version": "==0.1.0"
+        },
+        "decorator": {
+            "hashes": [
+                "sha256:41fa54c2a0cc4ba648be4fd43cff00aedf5b9465c9bf18d64325bc225f08f760",
+                "sha256:e3a62f0520172440ca0dcc823749319382e377f37f140a0b99ef45fecb84bfe7"
+            ],
+            "version": "==4.4.2"
+        },
+        "ipykernel": {
+            "hashes": [
+                "sha256:7f1f01df22f1229c8879501057877ccaf92a3b01c1d00db708aad5003e5f9238",
+                "sha256:ba8c9e5561f3223fb47ce06ad7925cb9444337ac367341c0c520ffb68ea6d120"
+            ],
+            "index": "pypi",
+            "version": "==5.1.4"
+        },
+        "ipython": {
+            "hashes": [
+                "sha256:ca478e52ae1f88da0102360e57e528b92f3ae4316aabac80a2cd7f7ab2efb48a",
+                "sha256:eb8d075de37f678424527b5ef6ea23f7b80240ca031c2dd6de5879d687a65333"
+            ],
+            "version": "==7.13.0"
+        },
+        "ipython-genutils": {
+            "hashes": [
+                "sha256:72dd37233799e619666c9f639a9da83c34013a73e8bbc79a7a6348d93c61fab8",
+                "sha256:eb2e116e75ecef9d4d228fdc66af54269afa26ab4463042e33785b887c628ba8"
+            ],
+            "version": "==0.2.0"
+        },
         "isort": {
             "hashes": [
                 "sha256:54da7e92468955c4fceacd0c86bd0ec997b0e1ee80d97f67c35a78b719dccab1",
@@ -265,6 +302,27 @@
             ],
             "version": "==4.3.21"
         },
+        "jedi": {
+            "hashes": [
+                "sha256:b4f4052551025c6b0b0b193b29a6ff7bdb74c52450631206c262aef9f7159ad2",
+                "sha256:d5c871cb9360b414f981e7072c52c33258d598305280fef91c6cae34739d65d5"
+            ],
+            "version": "==0.16.0"
+        },
+        "jupyter-client": {
+            "hashes": [
+                "sha256:1fac6e3be1e797aea33d5cd1cfa568ff1ee71e01180bc89f64b24ee274f1f126",
+                "sha256:ed2490c65f7e0987d1e7b2c4146371d58112489e558b3a835aefb86b7283f930"
+            ],
+            "version": "==6.0.0"
+        },
+        "jupyter-core": {
+            "hashes": [
+                "sha256:394fd5dd787e7c8861741880bdf8a00ce39f95de5d18e579c74b882522219e7e",
+                "sha256:a4ee613c060fe5697d913416fc9d553599c05e4492d58fac1192c9a6844abb21"
+            ],
+            "version": "==4.6.3"
+        },
         "lazy-object-proxy": {
             "hashes": [
                 "sha256:0c4b206227a8097f05c4dbdd323c50edf81f15db3b8dc064d08c62d37e1a504d",
@@ -298,6 +356,49 @@
             ],
             "version": "==0.6.1"
         },
+        "parso": {
+            "hashes": [
+                "sha256:0c5659e0c6eba20636f99a04f469798dca8da279645ce5c387315b2c23912157",
+                "sha256:8515fc12cfca6ee3aa59138741fc5624d62340c97e401c74875769948d4f2995"
+            ],
+            "version": "==0.6.2"
+        },
+        "pexpect": {
+            "hashes": [
+                "sha256:0b48a55dcb3c05f3329815901ea4fc1537514d6ba867a152b581d69ae3710937",
+                "sha256:fc65a43959d153d0114afe13997d439c22823a27cefceb5ff35c2178c6784c0c"
+            ],
+            "markers": "sys_platform != 'win32'",
+            "version": "==4.8.0"
+        },
+        "pickleshare": {
+            "hashes": [
+                "sha256:87683d47965c1da65cdacaf31c8441d12b8044cdec9aca500cd78fc2c683afca",
+                "sha256:9649af414d74d4df115d5d718f82acb59c9d418196b7b4290ed47a12ce62df56"
+            ],
+            "version": "==0.7.5"
+        },
+        "prompt-toolkit": {
+            "hashes": [
+                "sha256:a402e9bf468b63314e37460b68ba68243d55b2f8c4d0192f85a019af3945050e",
+                "sha256:c93e53af97f630f12f5f62a3274e79527936ed466f038953dfa379d4941f651a"
+            ],
+            "version": "==3.0.3"
+        },
+        "ptyprocess": {
+            "hashes": [
+                "sha256:923f299cc5ad920c68f2bc0bc98b75b9f838b93b599941a6b63ddbc2476394c0",
+                "sha256:d7cc528d76e76342423ca640335bd3633420dc1366f258cb31d05e865ef5ca1f"
+            ],
+            "version": "==0.6.0"
+        },
+        "pygments": {
+            "hashes": [
+                "sha256:2a3fe295e54a20164a9df49c75fa58526d3be48e14aceba6d6b1e8ac0bfd6f1b",
+                "sha256:98c8aa5a9f778fcd1026a17361ddaf7330d1b7c62ae97c3bb0ae73e0b9b6b0fe"
+            ],
+            "version": "==2.5.2"
+        },
         "pylint": {
             "hashes": [
                 "sha256:3db5468ad013380e987410a8d6956226963aed94ecb5f9d3a28acca6d9ac36cd",
@@ -306,6 +407,46 @@
             "index": "pypi",
             "version": "==2.4.4"
         },
+        "python-dateutil": {
+            "hashes": [
+                "sha256:73ebfe9dbf22e832286dafa60473e4cd239f8592f699aa5adaf10050e6e1823c",
+                "sha256:75bb3f31ea686f1197762692a9ee6a7550b59fc6ca3a1f4b5d7e32fb98e2da2a"
+            ],
+            "version": "==2.8.1"
+        },
+        "pyzmq": {
+            "hashes": [
+                "sha256:0bbc1728fe4314b4ca46249c33873a390559edac7c217ec7001b5e0c34a8fb7f",
+                "sha256:1e076ad5bd3638a18c376544d32e0af986ca10d43d4ce5a5d889a8649f0d0a3d",
+                "sha256:242d949eb6b10197cda1d1cec377deab1d5324983d77e0d0bf9dc5eb6d71a6b4",
+                "sha256:26f4ae420977d2a8792d7c2d7bda43128b037b5eeb21c81951a94054ad8b8843",
+                "sha256:32234c21c5e0a767c754181c8112092b3ddd2e2a36c3f76fc231ced817aeee47",
+                "sha256:3f12ce1e9cc9c31497bd82b207e8e86ccda9eebd8c9f95053aae46d15ccd2196",
+                "sha256:4557d5e036e6d85715b4b9fdb482081398da1d43dc580d03db642b91605b409f",
+                "sha256:4f562dab21c03c7aa061f63b147a595dbe1006bf4f03213272fc9f7d5baec791",
+                "sha256:5e071b834051e9ecb224915398f474bfad802c2fff883f118ff5363ca4ae3edf",
+                "sha256:5e1f65e576ab07aed83f444e201d86deb01cd27dcf3f37c727bc8729246a60a8",
+                "sha256:5f10a31f288bf055be76c57710807a8f0efdb2b82be6c2a2b8f9a61f33a40cea",
+                "sha256:6aaaf90b420dc40d9a0e1996b82c6a0ff91d9680bebe2135e67c9e6d197c0a53",
+                "sha256:75238d3c16cab96947705d5709187a49ebb844f54354cdf0814d195dd4c045de",
+                "sha256:7f7e7b24b1d392bb5947ba91c981e7d1a43293113642e0d8870706c8e70cdc71",
+                "sha256:84b91153102c4bcf5d0f57d1a66a0f03c31e9e6525a5f656f52fc615a675c748",
+                "sha256:944f6bb5c63140d76494467444fd92bebd8674236837480a3c75b01fe17df1ab",
+                "sha256:a1f957c20c9f51d43903881399b078cddcf710d34a2950e88bce4e494dcaa4d1",
+                "sha256:a49fd42a29c1cc1aa9f461c5f2f5e0303adba7c945138b35ee7f4ab675b9f754",
+                "sha256:a99ae601b4f6917985e9bb071549e30b6f93c72f5060853e197bdc4b7d357e5f",
+                "sha256:ad48865a29efa8a0cecf266432ea7bc34e319954e55cf104be0319c177e6c8f5",
+                "sha256:b08e425cf93b4e018ab21dc8fdbc25d7d0502a23cc4fea2380010cf8cf11e462",
+                "sha256:bb10361293d96aa92be6261fa4d15476bca56203b3a11c62c61bd14df0ef89ba",
+                "sha256:bd1a769d65257a7a12e2613070ca8155ee348aa9183f2aadf1c8b8552a5510f5",
+                "sha256:cb3b7156ef6b1a119e68fbe3a54e0a0c40ecacc6b7838d57dd708c90b62a06dc",
+                "sha256:e8e4efb52ec2df8d046395ca4c84ae0056cf507b2f713ec803c65a8102d010de",
+                "sha256:f37c29da2a5b0c5e31e6f8aab885625ea76c807082f70b2d334d3fd573c3100a",
+                "sha256:f4d558bc5668d2345773a9ff8c39e2462dafcb1f6772a2e582fbced389ce527f",
+                "sha256:f5b6d015587a1d6f582ba03b226a9ddb1dfb09878b3be04ef48b01b7d4eb6b2a"
+            ],
+            "version": "==19.0.0"
+        },
         "six": {
             "hashes": [
                 "sha256:236bdbdce46e6e6a3d61a337c0f8b763ca1e8717c03b369e87a7ec7ce1319c0a",
@@ -313,6 +454,25 @@
             ],
             "version": "==1.14.0"
         },
+        "tornado": {
+            "hashes": [
+                "sha256:349884248c36801afa19e342a77cc4458caca694b0eda633f5878e458a44cb2c",
+                "sha256:398e0d35e086ba38a0427c3b37f4337327231942e731edaa6e9fd1865bbd6f60",
+                "sha256:4e73ef678b1a859f0cb29e1d895526a20ea64b5ffd510a2307b5998c7df24281",
+                "sha256:559bce3d31484b665259f50cd94c5c28b961b09315ccd838f284687245f416e5",
+                "sha256:abbe53a39734ef4aba061fca54e30c6b4639d3e1f59653f0da37a0003de148c7",
+                "sha256:c845db36ba616912074c5b1ee897f8e0124df269468f25e4fe21fe72f6edd7a9",
+                "sha256:c9399267c926a4e7c418baa5cbe91c7d1cf362d505a1ef898fde44a07c9dd8a5"
+            ],
+            "version": "==6.0.3"
+        },
+        "traitlets": {
+            "hashes": [
+                "sha256:70b4c6a1d9019d7b4f6846832288f86998aa3b9207c6821f3578a6a6a467fe44",
+                "sha256:d023ee369ddd2763310e4c3eae1ff649689440d4ae59d7485eb4cfbbe3e359f7"
+            ],
+            "version": "==4.3.3"
+        },
         "typed-ast": {
             "hashes": [
                 "sha256:0666aa36131496aed8f7be0410ff974562ab7eeac11ef351def9ea6fa28f6355",
@@ -340,6 +500,13 @@
             "markers": "implementation_name == 'cpython' and python_version < '3.8'",
             "version": "==1.4.1"
         },
+        "wcwidth": {
+            "hashes": [
+                "sha256:8fd29383f539be45b20bd4df0dc29c20ba48654a41e661925e612311e9f3c603",
+                "sha256:f28b3e8a6483e5d49e7f8949ac1a78314e740333ae305b4ba5defd3e74fb37a8"
+            ],
+            "version": "==0.1.8"
+        },
         "wrapt": {
             "hashes": [
                 "sha256:565a021fd19419476b9362b05eeaa094178de64f8361e44468f9e9d7843901e1"
diff --git a/Software/python/hwtest.py b/Software/python/hwtest.py
index 9ba6fe0..1f8f00f 100644
--- a/Software/python/hwtest.py
+++ b/Software/python/hwtest.py
@@ -1,20 +1,42 @@
 import time
 import numpy as np
+
+import board
+import digitalio
 from adafruit_servokit import ServoKit
-from adafruit_ads1x15 import ads1015
+from adafruit_ads1x15.ads1015 import ADS
+from adafruit_ads1x15.analog_in import AnalogIn
 
 if __name__ == "__main__":
-    servos = ServoKit(channels=16).continuous_servo
-    servos[0].throttle = 0
-    servos[1].throttle = 0
-    servos[2].throttle = 0
-    time.sleep(1)
-    servos[0].throttle = 20
-    servos[1].throttle = 20
-    servos[2].throttle = 20
-    time.sleep(1)
-    servos[0].throttle = 0
-    servos[1].throttle = 0
-    servos[2].throttle = 0
+    mux = np.empty(4)
+    mux[0] = digitalio.DigitalInOut(board.D17).value
+    mux[1] = digitalio.DigitalInOut(board.D27).value
+    mux[2] = digitalio.DigitalInOut(board.D22).value
+    mux[3] = digitalio.DigitalInOut(board.D23).value
+
+    adc = ADS.ADS1015()
+    adc_mux = AnalogIn(adc, ADS.P0)
+
+    def get_reflectivity(chan):
+        chan = int(chan)
+        global mux
+        mux = np.array(list(f"{chan:04b}"), dtype=int)
+
+    while True:
+        for ii in range(8):
+            print(get_reflectivity(ii), end="")
+        print()
+
+    # servos = ServoKit(channels=16).continuous_servo
+    # servos[0].throttle = 0
+    # servos[1].throttle = 0
+    # servos[2].throttle = 0
+    # time.sleep(1)
+    # servos[0].throttle = 20
+    # servos[1].throttle = 20
+    # servos[2].throttle = 20
+    # time.sleep(1)
+    # servos[0].throttle = 0
+    # servos[1].throttle = 0
+    # servos[2].throttle = 0
     
-    # adc = ads1015()
\ No newline at end of file