Maqueen PLUS V2.1 2 large red LEDs software control ?

The two large red LEDs on the Maqueen PLUS V2.1 can be controlled via software using set_headlights(True/False) in the MicroPython driver. Make sure you have the correct Maqueen V2 driver installed, initialize I2C with I2CInit(), and then use set_headlights() for the front lights and set_underglow() for the bottom RGB lights.

# Maqueen Plus V2 MicroPython driver (single-file)
# Tested with python.microbit.org v3 runtime on micro:bit V2
# Based on the register map from the DFRobot Maqueen Plus V2 MakeCode
# extension and community MicroPython ports. MIT-style.
from micropython import const
from microbit import i2c, display, Image, pin13, pin14, pin15, accelerometer, compass
from machine import time_pulse_us
from neopixel import NeoPixel
from time import sleep_ms, sleep_us, ticks_us
from math import sqrt, asin, cos, sin, atan2, pi

I2C_ADDR               = const(0x10)
LEFT_MOTOR_REGISTER    = const(0x00)
RIGHT_MOTOR_REGISTER   = const(0x02)
LEFT_LED_REGISTER      = const(0x0B)
RIGHT_LED_REGISTER     = const(0x0C)
LINE_STATE_REGISTER    = const(0x1D)
ADC0_REGISTER          = const(0x1E)
ADC1_REGISTER          = const(0x20)
ADC2_REGISTER          = const(0x22)
ADC3_REGISTER          = const(0x24)
ADC4_REGISTER          = const(0x26)
VERSION_CNT_REGISTER   = const(0x32)
VERSION_DATA_REGISTER  = const(0x33)

class Motor:
  LEFT = 0
  RIGHT = 1
  ALL = 2
class Direction:
  FORWARD = 0
  BACKWARD = 1
class Led:
  LEFT = 0
  RIGHT = 1
  ALL = 2
class LineSensor:
  L1 = 0
  M  = 1
  R1 = 2
  L2 = 3
  R2 = 4
  ALL = 5
class Color:
  RED    = 0xFF0000
  ORANGE = 0xFFA500
  YELLOW = 0xFFFF00
  GREEN  = 0x00FF00
  BLUE   = 0x0000FF
  INDIGO = 0x4B0082
  VIOLET = 0x8A2BE2
  PURPLE = 0xFF00FF
  WHITE  = 0xFFFFFF
  BLACK  = 0x000000
class ColorLED:
  L1  = 0
  L2  = 1
  R2  = 2
  R1  = 3
  ALL = 4

_np = NeoPixel(pin15, 4)
_brightness = 0xFF

_motor_calibration = [[], []]  
 

_def_icon = Image('00000:00009:00090:90900:09000')
def I2CInit():
  try:
      i2c.write(I2C_ADDR, bytearray([VERSION_CNT_REGISTER]))
      _ = i2c.read(I2C_ADDR, 1)
  except Exception:
      pass
  display.show(_def_icon)
  sleep_ms(400)
  display.clear()

def rgb(r, g, b):
  return (r & 0xFF) << 16 | (g & 0xFF) << 8 | (b & 0xFF)
def led_rgb(color, led=ColorLED.ALL, brightness=None):
  if brightness is None:
      brightness = _brightness
  r = (color >> 16) * (brightness / 255)
  g = ((color >> 8) & 0xFF) * (brightness / 255)
  b = (color & 0xFF) * (brightness / 255)
  if led == ColorLED.ALL:
      for i in range(4):
          _np[i] = (int(r), int(g), int(b))
  else:
      if 0 <= led < 4:
          _np[led] = (int(r), int(g), int(b))
  _np.show()
def led_rgb_off(led=ColorLED.ALL):
  if led < 0 or led > ColorLED.ALL:
      led = ColorLED.ALL
  led_rgb(Color.BLACK, led)

def _read_u8(reg):
  i2c.write(I2C_ADDR, bytearray([reg]))
  return i2c.read(I2C_ADDR, 1)[0]
def _read_u16(reg):
  i2c.write(I2C_ADDR, bytearray([reg]))
  b = i2c.read(I2C_ADDR, 2)
  return (b[1] << 8) | b[0]
def line_sensor(sensor):

  state = _read_u8(LINE_STATE_REGISTER)
  vals = (
      1 if (state & 0x10) else 0,
      1 if (state & 0x08) else 0,
      1 if (state & 0x04) else 0,
      1 if (state & 0x02) else 0,
      1 if (state & 0x01) else 0,
  )
  if sensor == LineSensor.ALL:
      return vals
  mapping = {
      LineSensor.L2: 0,
      LineSensor.L1: 1,
      LineSensor.M:  2,
      LineSensor.R1: 3,
      LineSensor.R2: 4,
  }
  return vals[mapping[sensor]]
def line_sensor_all():
  return line_sensor(LineSensor.ALL)
def line_sensor_data(sensor):

  regs = [ADC0_REGISTER, ADC1_REGISTER, ADC2_REGISTER, ADC3_REGISTER, ADC4_REGISTER]
  if sensor == LineSensor.ALL:
      return tuple(_read_u16(r) for r in regs)
  mapping = {
      LineSensor.L2: 0,
      LineSensor.L1: 1,
      LineSensor.M:  2,
      LineSensor.R1: 3,
      LineSensor.R2: 4,
  }
  return _read_u16(regs[mapping[sensor]])

_heading_window_size = 1
_heading_buffer = [0.0]
_heading_index = 0
def mq_heading():
  acc_raw = (accelerometer.get_x(), accelerometer.get_z(), -accelerometer.get_y())
  mag_raw = (compass.get_x(), compass.get_z(), -compass.get_y())
  acc_norm = sqrt(acc_raw[0]*acc_raw[0] + acc_raw[1]*acc_raw[1] + acc_raw[2]*acc_raw[2])
  try:
      acc_x = acc_raw[0]/acc_norm
      acc_y = acc_raw[1]/acc_norm
      pitch = asin(acc_x)
      roll = -asin(acc_y / cos(pitch))
      mag_x = mag_raw[0] * cos(pitch) + mag_raw[2] * sin(pitch)
      mag_y = (mag_raw[0] * sin(roll) * sin(pitch) +
               mag_raw[1] * cos(roll) -
               mag_raw[2] * sin(roll) * cos(pitch))
      heading = 180 * atan2(mag_y, mag_x) / pi
      if heading < 0:
          heading += 360
      return heading
  except Exception:
      return 0
def heading_set_window_size(n=1):
  global _heading_window_size, _heading_buffer, _heading_index
  _heading_window_size = 1 if n < 1 else n
  _heading_buffer = [0 for _ in range(_heading_window_size)]
  _heading_index = 0
def _heading_append(val):
  global _heading_index
  _heading_buffer[_heading_index] = val
  _heading_index = (_heading_index + 1) % _heading_window_size
def _heading_mean():
  if _heading_window_size == 1:
      return _heading_buffer[0]
  return sum(_heading_buffer) / _heading_window_size
def heading_diff(h0, apply_window=True):
  h = mq_heading()
  if apply_window:
      _heading_append(h)
      cur = _heading_mean()
  else:
      cur = h
  d = cur - h0
  # wrap to [-180, 180]
  while d > 180:
      d -= 360
  while d < -180:
      d += 360
  return d
# ########
def set_headlights(on, led=Led.ALL):
  """
  2025-08-21
  Don't confuse programmers with a meaningless name like 'led_red'.
  We're setting headlights on and off.
  """
  led_red(on, led)
def set_underglow(color, led=ColorLED.ALL ):
  """
  2025-08-21
  Don't confuse programmers with a meaningless name like 'led_rgb'; we're setting the
  underglow's color.
  """
  led_rgb(color, led)
# #######
from microbit import *
print("Starting...") # Change Starting to Wake up, dummy
I2CInit()
display.show(Image.HAPPY) # Change HAPPY TO DUCK
set_headlights(False)
set_underglow(Color.BLACK)
print("Press button_a to turn on both headlights.")
while not button_a.was_pressed():
  sleep(100)
set_headlights(True)
print("Press button_a to make both headlights blink.")
while not button_a.was_pressed():
  sleep(100)
for _ in range(5):
  set_headlights(True)
  sleep(500) # Change 500 to 100
  set_headlights(False)
  sleep(500) 
print("Press button_a to signal a left turn.")
while not button_a.was_pressed():
  sleep(100)
set_headlights(False)
for _ in range(0, 5):
  set_headlights(True, led=Led.LEFT)
  sleep(100) # Change 100 to 1000
  set_headlights(False, led=Led.LEFT)
  sleep(100)
print("Press button_a to signal a right turn.")
while not button_a.was_pressed():
  sleep(100)
set_headlights(False)
for _ in range(0, 10):
  set_headlights(True, led=Led.RIGHT)
  sleep(100)
  set_headlights(False, led=Led.RIGHT)
  sleep(100)
print("Press button_a to make the bottom of the car red.")
while not button_a.was_pressed():
  sleep(100)
set_underglow(Color.RED) # Change RED to GREEN
print("Press button_a to make the bottom of the car yellow.")
while not button_a.was_pressed():
  sleep(100)
set_underglow(Color.YELLOW) # Change YELLOW to INDIGO
print("Press button_a to turn off the lights and end the program.")
while not button_a.was_pressed():
  sleep(100)
set_headlights(False)
set_underglow(Color.BLACK)
display.clear()
print("Bye") # Change Bye to Shalom
print("")
# end of file

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