Servo

def __init__(self):
    """
        Configure SPI and RGB Leds
    """
    self.spi = spidev.SpiDev()
    self.spi.open(0, 0)
    self.data = []
    for i in range(24):
        self.data.append([0, 0, 0])
    self.write_led(self.data)  # no color at the beginning

def close(self):
    """
        Switch all leds off
    """
    self.configure_all_leds([0, 0, 0])

def configure_all_leds(self, rgb_code):
    """
        Configure all leds to same rgb code

        Parameter:
            rgb_code: np.array which includes the rgb color code [RED, GREEN, BLUE]
    """
    for i in range(len(self.data)):
        self.data[i] = rgb_code
    self.write_led(self.data)

def configure_individual_leds(self, rgb_code, pixel):
    """
        Configures RGB color for LED stripe until the given pixel

        Parameters:
            rgb_code: np.array with the color code
            pixel: how many leds should be changed
    """
    if pixel < 0:
        count = -3
        for i in range(len(self.data) - 3):
            if count >= pixel:
                self.data[count] = rgb_code
            else:
                self.data[count] = [0, 0, 0]
            count = count - 1
    else:
        count = 2
        for i in range(len(self.data) - 2):
            if count < pixel:
                self.data[count] = rgb_code
            else:
                self.data[count] = [0, 0, 0]
            count = count + 1

    self.write_led(self.data)

def led_score_off(self):
    """
        Turns off leds when player has scored
    """
    self.data[0] = [0, 0, 0]
    self.data[1] = [0, 0, 0]
    self.data[-1] = [0, 0, 0]
    self.data[-2] = [0, 0, 0]
    self.write_led(self.data)

def led_score_on(self, rgb_code):
    """
        Turns on 4 led when player scores
    """
    self.data[0] = rgb_code
    self.data[1] = rgb_code
    self.data[-1] = rgb_code
    self.data[-2] = rgb_code
    self.write_led(self.data)

def write_led(self, data):
    """
        Set colors to one or more leds (depending on data parameter)

        Parameters:
            data: 2-dimensional array which includes rgb code of needed leds
    """
    d = numpy.array(data).ravel()
    tx = numpy.zeros(len(d) * 4, dtype=numpy.uint8)
    for ibit in range(4):
        tx[3 - ibit::4] = ((d >> (2 * ibit + 1)) & 1) * 0x60 + ((d >> (2 * ibit + 0)) & 1) * 0x06 + 0x88
    self.spi.xfer(tx.tolist(), int(4 / 1.2e-6))