Add PWM-controlled headlights hardware module#33
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PWM at 1 kHz caused visible flicker on the installed LED modules (likely interaction with their internal driver's control loop). Dimming is not a product requirement, so drop the duty-cycle API entirely and drive the headlights as plain on/off outputs. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
The flashlight's front and back PwmOutputs both claimed timer 0 / channel 0 (the Lizard defaults), so only the last-configured pin was actually driven in hardware. Assign back to channel 1, and reserve timer 1 / channels 2+3 for the headlights so both subsystems can coexist without reconfiguring each other's LEDC timer. Also restore PWM on the headlights (needed for LED module compatibility) and promote duty_cycle to a FlashlightConfiguration field, matching the headlights' pattern. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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### Motivation `FlashlightHardware` ignored `on_expander` and prefixed the Lizard `PwmOutput` with the expander name whenever an expander was passed, regardless of the flag. It also hard-coded the LEDC channel allocation, which can collide with other `PwmOutput`s on the same chip — see #33. ### Implementation - Respect `on_expander`: the expander prefix is only applied when both an expander is present *and* `config.on_expander` is true. - Make LEDC allocation explicit: expose `ledc_timer`, `front_ledc_channel`, `back_ledc_channel` on `FlashlightConfiguration` and pass them as the second/third argument to `PwmOutput(...)`. Defaults match the previous implicit allocation (timer 0, channels 0/1). - Make brightness configurable via `duty_cycle` (0.0–1.0), converted to the 8-bit Lizard duty value; previous behavior (full brightness) is preserved as the default. A docstring note reminds users that the LEDC channels must not collide with other `PwmOutput`s on the same chip. ### Progress - [x] I chose a meaningful title that completes the sentence: "If applied, this PR will..." - [x] I chose meaningful labels (if GitHub allows me to so). - [x] I documented breaking changes and set the 'breaking change' label if needed - [x] The implementation is complete. - [x] Tests with a real hardware have been successful (or are not necessary). - [x] Pytests have been added (or are not necessary). - [x] Documentation has been added (or is not necessary). --------- Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Motivation
Add PWM-controlled headlights as a new hardware module so Feldfreund robots can independently control left and right headlights with adjustable brightness.
Implementation
Follows the existing flashlight pattern: a
Headlightsbase class withHeadlightsHardwareandHeadlightsSimulationwith two independently PWM controlled lights.Includes a developer UI with on/off buttons and per-side duty cycle sliders.
Progress
Noneor do all robots from now on will have these lights? -> Breaking change