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Fixed ZeroBorg power offsets

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This commit is contained in:
Fabio Manganiello 2018-02-26 01:01:07 +01:00
parent 6508f0baf3
commit a8254181b2
1 changed files with 20 additions and 11 deletions
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31
platypush/plugins/gpio/zeroborg/__init__.py
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@ -18,16 +18,25 @@ class GpioZeroborgPlugin(Plugin):
_drive_thread = None _drive_thread = None
_can_run = False _can_run = False
_direction = None _direction = None
_power_offsets = {
Direction.DIR_LEFT: {
Direction.DIR_UP: 0.242,
Direction.DIR_DOWN: 0.285,
},
Direction.DIR_RIGHT: {
Direction.DIR_UP: 0,
Direction.DIR_DOWN: 0.242,
},
}
def __init__(self, v_in=8.4, v_out=6.0, left_power_offset=1.242, right_power_offset=1.0): def __init__(self, v_in=8.4, v_out=6.0):
import platypush.plugins.gpio.zeroborg.lib as ZeroBorg import platypush.plugins.gpio.zeroborg.lib as ZeroBorg
self.v_in = v_in self.v_in = v_in
self.v_out = v_out self.v_out = v_out
self.max_power = v_out / float(v_in) self.max_power = v_out / float(v_in)
self.left_power_offset = left_power_offset
self.right_power_offset = right_power_offset
self.zb = ZeroBorg.ZeroBorg() self.zb = ZeroBorg.ZeroBorg()
self.zb.Init() self.zb.Init()
@ -46,17 +55,17 @@ class GpioZeroborgPlugin(Plugin):
right = 0.0 right = 0.0
if self._direction == Direction.DIR_UP.value: if self._direction == Direction.DIR_UP.value:
left = 1.0 * self.left_power_offset left = 1.0 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_UP]
right = 1.0 / self.right_power_offset right = 1.0 + self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_UP]
elif self._direction == Direction.DIR_DOWN.value: elif self._direction == Direction.DIR_DOWN.value:
left = -1.0 left = -1.0 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN]
right = -1.0 right = -1.0 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
elif self._direction == Direction.DIR_LEFT.value: elif self._direction == Direction.DIR_LEFT.value:
left = 2.0 * self.left_power_offset left = 2.0 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_UP]
right = -1.0 / self.right_power_offset right = -1.25 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
elif self._direction == Direction.DIR_RIGHT.value: elif self._direction == Direction.DIR_RIGHT.value:
left = -1.0 / self.left_power_offset left = -1.25 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN]
right = 2.0 * self.right_power_offset right = 2 + self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_UP]
elif self._direction is not None: elif self._direction is not None:
logging.warning('Invalid direction: {}'.format(direction)) logging.warning('Invalid direction: {}'.format(direction))