Support for Zeroborg events
This commit is contained in:
Fabio Manganiello
parent
b36a8095ab
commit
7a7acbe6b9
3 changed files with 175 additions and 140 deletions
19
platypush/message/event/zeroborg.py
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19
platypush/message/event/zeroborg.py
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@ -0,0 +1,19 @@
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from typing import Optional, Union
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from platypush.message.event import Event
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class ZeroborgEvent(Event):
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pass
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class ZeroborgDriveEvent(ZeroborgEvent):
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def __init__(self, motors: Union[list, tuple], direction: Optional[str] = None, *args, **kwargs):
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super().__init__(*args, motors=motors, direction=direction, **kwargs)
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class ZeroborgStopEvent(ZeroborgEvent):
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pass
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# vim:sw=4:ts=4:et:
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@ -2,6 +2,10 @@ import enum
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import threading
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import time
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from typing import Optional
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from platypush.context import get_bus
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from platypush.message.event.zeroborg import ZeroborgDriveEvent, ZeroborgStopEvent
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from platypush.plugins import Plugin, action
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from platypush.context import get_plugin
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@ -21,12 +25,13 @@ class GpioZeroborgPlugin(Plugin):
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ZeroBorg plugin. It allows you to control a ZeroBorg
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(https://www.piborg.org/motor-control-1135/zeroborg) motor controller and
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infrared sensor circuitry for Raspberry Pi
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"""
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_drive_thread = None
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_can_run = False
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_direction = None
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_init_in_progress = threading.Lock()
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Triggers:
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* :class:`platypush.message.event.zeroborg.ZeroborgDriveEvent` when motors direction changes
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* :class:`platypush.message.event.zeroborg.ZeroborgStopEvent` upon motors stop
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"""
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def __init__(self, directions=None, **kwargs):
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"""
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@ -96,6 +101,8 @@ class GpioZeroborgPlugin(Plugin):
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self.directions = directions
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self.auto_mode = False
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self._direction = None
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self._drive_thread: Optional[threading.Thread] = None
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self._can_run: bool = False
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self.zb = ZeroBorg.ZeroBorg()
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self.zb.Init()
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@ -155,10 +162,6 @@ class GpioZeroborgPlugin(Plugin):
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"""
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self._can_run = True
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self._direction = direction.lower()
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self.logger.info('Received ZeroBorg drive command: {}'.format(direction))
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def _run():
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try:
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while self._can_run and self._direction:
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@ -173,7 +176,7 @@ class GpioZeroborgPlugin(Plugin):
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if self._direction == Direction.DIR_AUTO.value:
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self.auto_mode = True
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motor_1_power = motor_2_power = motor_3_power = motor_4_power = 0.0
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motors = [0, 0, 0, 0]
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try:
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if self.auto_mode:
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@ -181,23 +184,25 @@ class GpioZeroborgPlugin(Plugin):
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time.sleep(0.1)
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if self._direction in self.directions and self._direction != Direction.DIR_AUTO.value:
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motor_1_power = self.directions[self._direction]['motor_1_power']
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motor_2_power = self.directions[self._direction]['motor_2_power']
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motor_3_power = self.directions[self._direction]['motor_3_power']
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motor_4_power = self.directions[self._direction]['motor_4_power']
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motors = self.directions[self._direction]
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else:
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self.logger.warning('Invalid direction {}: stopping motors'.format(self._direction))
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except Exception as e:
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self.logger.error('Error on _get_direction_from_sensors: {}'.format(str(e)))
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break
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self.zb.SetMotor1(motor_1_power)
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self.zb.SetMotor2(motor_2_power)
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self.zb.SetMotor3(motor_3_power)
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self.zb.SetMotor4(motor_4_power)
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for i, power in enumerate(motors):
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method = getattr(self.zb, 'SetMotor{}'.format(i+1))
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method(power)
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finally:
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self.stop()
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self._drive_thread = None
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self._can_run = True
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self._direction = direction.lower()
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get_bus().post(ZeroborgDriveEvent(direction=self._direction, motors=self.directions[self._direction]))
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if not self._drive_thread:
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self._drive_thread = threading.Thread(target=_run)
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self._drive_thread.start()
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@ -217,7 +222,7 @@ class GpioZeroborgPlugin(Plugin):
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self.zb.MotorsOff()
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self.zb.ResetEpo()
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get_bus().post(ZeroborgStopEvent())
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return {'status': 'stopped'}
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@ -82,15 +82,18 @@ COMMAND_ANALOG_MAX = 0x3FF # Maximum value for analog readings
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IR_MAX_BYTES = I2C_LONG_LEN - 2
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# noinspection PyPep8Naming
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def ScanForZeroBorg(busNumber=1):
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"""
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ScanForZeroBorg([busNumber])
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Scans the I?C bus for a ZeroBorg boards and returns a list of all usable addresses
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The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied the default is 1
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The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied
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the default is 1
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"""
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found = []
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print('Scanning I?C bus #%d' % (busNumber))
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print('Scanning I?C bus #%d' % busNumber)
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bus = ZeroBorg()
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for address in range(0x03, 0x78, 1):
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try:
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@ -98,7 +101,7 @@ The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Re
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i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_NORM_LEN)
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if len(i2cRecv) == I2C_NORM_LEN:
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if i2cRecv[1] == I2C_ID_ZEROBORG:
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print('Found ZeroBorg at %02X' % (address))
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print('Found ZeroBorg at %02X' % address)
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found.append(address)
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else:
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pass
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@ -106,10 +109,11 @@ The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Re
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pass
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except KeyboardInterrupt:
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raise
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except:
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pass
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except Exception as e:
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print('Error on ZeroBorg scan: {}: {}'.format(type(e), str(e)))
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if len(found) == 0:
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print('No ZeroBorg boards found, is bus #%d correct (should be 0 for Rev 1, 1 for Rev 2)' % (busNumber))
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print('No ZeroBorg boards found, is bus #%d correct (should be 0 for Rev 1, 1 for Rev 2)' % busNumber)
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elif len(found) == 1:
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print('1 ZeroBorg board found')
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else:
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@ -117,13 +121,15 @@ The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Re
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return found
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# noinspection PyPep8Naming
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def SetNewAddress(newAddress, oldAddress=-1, busNumber=1):
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"""
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SetNewAddress(newAddress, [oldAddress], [busNumber])
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Scans the I?C bus for the first ZeroBorg and sets it to a new I2C address
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If oldAddress is supplied it will change the address of the board at that address rather than scanning the bus
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The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied the default is 1
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The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied
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the default is 1.
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Warning, this new I?C address will still be used after resetting the power on the device
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"""
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if newAddress < 0x03:
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@ -142,52 +148,57 @@ Warning, this new I?C address will still be used after resetting the power on th
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print('Changing I2C address from %02X to %02X (bus #%d)' % (oldAddress, newAddress, busNumber))
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bus = ZeroBorg()
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bus.InitBusOnly(busNumber, oldAddress)
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# noinspection PyBroadException
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try:
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i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_NORM_LEN)
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if len(i2cRecv) == I2C_NORM_LEN:
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if i2cRecv[1] == I2C_ID_ZEROBORG:
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foundChip = True
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print('Found ZeroBorg at %02X' % (oldAddress))
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print('Found ZeroBorg at %02X' % oldAddress)
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else:
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foundChip = False
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print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (oldAddress, i2cRecv[1], I2C_ID_ZEROBORG))
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print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (
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oldAddress, i2cRecv[1], I2C_ID_ZEROBORG))
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else:
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foundChip = False
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print('Missing ZeroBorg at %02X' % (oldAddress))
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print('Missing ZeroBorg at %02X' % oldAddress)
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except KeyboardInterrupt:
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raise
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except:
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foundChip = False
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print('Missing ZeroBorg at %02X' % (oldAddress))
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print('Missing ZeroBorg at %02X' % oldAddress)
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if foundChip:
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bus.RawWrite(COMMAND_SET_I2C_ADD, [newAddress])
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time.sleep(0.1)
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print('Address changed to %02X, attempting to talk with the new address' % (newAddress))
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print('Address changed to %02X, attempting to talk with the new address' % newAddress)
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# noinspection PyBroadException
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try:
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bus.InitBusOnly(busNumber, newAddress)
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i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_NORM_LEN)
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if len(i2cRecv) == I2C_NORM_LEN:
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if i2cRecv[1] == I2C_ID_ZEROBORG:
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foundChip = True
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print('Found ZeroBorg at %02X' % (newAddress))
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print('Found ZeroBorg at %02X' % newAddress)
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else:
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foundChip = False
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print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (newAddress, i2cRecv[1], I2C_ID_ZEROBORG))
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print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (
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newAddress, i2cRecv[1], I2C_ID_ZEROBORG))
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else:
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foundChip = False
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print('Missing ZeroBorg at %02X' % (newAddress))
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print('Missing ZeroBorg at %02X' % newAddress)
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except KeyboardInterrupt:
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raise
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except:
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foundChip = False
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print('Missing ZeroBorg at %02X' % (newAddress))
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print('Missing ZeroBorg at %02X' % newAddress)
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if foundChip:
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print('New I?C address of %02X set successfully' % (newAddress))
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print('New I?C address of %02X set successfully' % newAddress)
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else:
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print('Failed to set new I?C address...')
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# Class used to control ZeroBorg
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# noinspection PyPep8Naming
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class ZeroBorg:
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"""
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This module is designed to communicate with the ZeroBorg
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@ -207,7 +218,6 @@ printFunction Function reference to call when printing text, if None "
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i2cWrite = None
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i2cRead = None
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def RawWrite(self, command, data):
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"""
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RawWrite(command, data)
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@ -218,10 +228,10 @@ Command codes can be found at the top of ZeroBorg.py, data is a list of 0 or mor
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Under most circumstances you should use the appropriate function instead of RawWrite
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"""
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rawOutput = bytes([command])
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if data: rawOutput += bytes(data)
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if data:
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rawOutput += bytes(data)
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self.i2cWrite.write(rawOutput)
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def RawRead(self, command, length, retryCount=3):
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"""
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RawRead(command, length, [retryCount])
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@ -234,6 +244,8 @@ If it does not it will retry the request until retryCount is exhausted (default
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Under most circumstances you should use the appropriate function instead of RawRead
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"""
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reply = []
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while retryCount > 0:
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self.RawWrite(command, [])
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rawReply = self.i2cRead.read(length)
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@ -247,8 +259,7 @@ Under most circumstances you should use the appropriate function instead of RawR
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if retryCount > 0:
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return reply
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else:
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raise IOError('I2C read for command %d failed' % (command))
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raise IOError('I2C read for command %d failed' % command)
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def InitBusOnly(self, busNumber, address):
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"""
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@ -264,19 +275,17 @@ This call does not check the board is present or working, under most circumstanc
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self.i2cWrite = io.open("/dev/i2c-" + str(self.busNumber), "wb", buffering=0)
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fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress)
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def Print(self, message):
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"""
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Print(message)
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Wrapper used by the ZeroBorg instance to print messages, will call printFunction if set, print otherwise
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"""
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if self.printFunction == None:
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if self.printFunction is None:
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print(message)
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else:
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self.printFunction(message)
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def NoPrint(self, message):
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"""
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NoPrint(message)
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@ -287,14 +296,15 @@ ZB.printFunction = ZB.NoPrint
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"""
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pass
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def Init(self, tryOtherBus=False):
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"""
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Init([tryOtherBus])
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Prepare the I2C driver for talking to the ZeroBorg
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If tryOtherBus is True, this function will attempt to use the other bus if the ThunderBorg devices can not be found on the current busNumber
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If tryOtherBus is True, this function will attempt to use the other bus if the ThunderBorg devices can not be found on
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the current busNumber.
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This is only really useful for early Raspberry Pi models!
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"""
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self.Print('Loading ZeroBorg on bus %d, address %02X' % (self.busNumber, self.i2cAddress))
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@ -306,23 +316,25 @@ If tryOtherBus is True, this function will attempt to use the other bus if the T
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fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress)
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# Check for ZeroBorg
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# noinspection PyBroadException
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try:
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i2cRecv = self.RawRead(COMMAND_GET_ID, I2C_NORM_LEN)
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if len(i2cRecv) == I2C_NORM_LEN:
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if i2cRecv[1] == I2C_ID_ZEROBORG:
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self.foundChip = True
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self.Print('Found ZeroBorg at %02X' % (self.i2cAddress))
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self.Print('Found ZeroBorg at %02X' % self.i2cAddress)
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else:
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self.foundChip = False
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self.Print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (self.i2cAddress, i2cRecv[1], I2C_ID_ZEROBORG))
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self.Print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (
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self.i2cAddress, i2cRecv[1], I2C_ID_ZEROBORG))
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else:
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self.foundChip = False
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self.Print('Missing ZeroBorg at %02X' % (self.i2cAddress))
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self.Print('Missing ZeroBorg at %02X' % self.i2cAddress)
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except KeyboardInterrupt:
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raise
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except:
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self.foundChip = False
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self.Print('Missing ZeroBorg at %02X' % (self.i2cAddress))
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self.Print('Missing ZeroBorg at %02X' % self.i2cAddress)
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# See if we are missing chips
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if not self.foundChip:
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@ -332,15 +344,16 @@ If tryOtherBus is True, this function will attempt to use the other bus if the T
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self.busNumber = 0
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else:
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self.busNumber = 1
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self.Print('Trying bus %d instead' % (self.busNumber))
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self.Print('Trying bus %d instead' % self.busNumber)
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self.Init(False)
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else:
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self.Print('Are you sure your ZeroBorg is properly attached, the correct address is used, and the I2C drivers are running?')
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self.Print(
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'Are you sure your ZeroBorg is properly attached, the correct address is used, and the I2C ' +
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'drivers are running?')
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self.bus = None
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else:
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self.Print('ZeroBorg loaded on bus %d' % (self.busNumber))
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def SetMotor1(self, power):
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"""
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SetMotor1(power)
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@ -365,6 +378,7 @@ SetMotor1(1) -> motor 1 moving forward at 100% power
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if pwm > PWM_MAX:
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pwm = PWM_MAX
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# noinspection PyBroadException
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try:
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self.RawWrite(command, [pwm])
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except KeyboardInterrupt:
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@ -372,7 +386,6 @@ SetMotor1(1) -> motor 1 moving forward at 100% power
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except:
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self.Print('Failed sending motor 1 drive level!')
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def GetMotor1(self):
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"""
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power = GetMotor1()
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@ -384,6 +397,7 @@ e.g.
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-0.5 -> motor 1 moving reverse at 50% power
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1 -> motor 1 moving forward at 100% power
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"""
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# noinspection PyBroadException
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try:
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i2cRecv = self.RawRead(COMMAND_GET_A, I2C_NORM_LEN)
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except KeyboardInterrupt:
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@ -401,7 +415,6 @@ e.g.
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else:
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return
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def SetMotor2(self, power):
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"""
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SetMotor1(power)
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@ -426,6 +439,7 @@ SetMotor2(1) -> motor 2 moving forward at 100% power
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if pwm > PWM_MAX:
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pwm = PWM_MAX
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# noinspection PyBroadException
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try:
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self.RawWrite(command, [pwm])
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||||
except KeyboardInterrupt:
|
||||
|
|
@ -433,7 +447,6 @@ SetMotor2(1) -> motor 2 moving forward at 100% power
|
|||
except:
|
||||
self.Print('Failed sending motor 2 drive level!')
|
||||
|
||||
|
||||
def GetMotor2(self):
|
||||
"""
|
||||
power = GetMotor2()
|
||||
|
|
@ -445,6 +458,7 @@ e.g.
|
|||
-0.5 -> motor 2 moving reverse at 50% power
|
||||
1 -> motor 2 moving forward at 100% power
|
||||
"""
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
i2cRecv = self.RawRead(COMMAND_GET_B, I2C_NORM_LEN)
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -462,7 +476,6 @@ e.g.
|
|||
else:
|
||||
return
|
||||
|
||||
|
||||
def SetMotor3(self, power):
|
||||
"""
|
||||
SetMotor3(power)
|
||||
|
|
@ -487,6 +500,7 @@ SetMotor3(1) -> motor 3 moving forward at 100% power
|
|||
if pwm > PWM_MAX:
|
||||
pwm = PWM_MAX
|
||||
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
self.RawWrite(command, [pwm])
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -494,7 +508,6 @@ SetMotor3(1) -> motor 3 moving forward at 100% power
|
|||
except:
|
||||
self.Print('Failed sending motor 3 drive level!')
|
||||
|
||||
|
||||
def GetMotor3(self):
|
||||
"""
|
||||
power = GetMotor3()
|
||||
|
|
@ -506,6 +519,7 @@ e.g.
|
|||
-0.5 -> motor 3 moving reverse at 50% power
|
||||
1 -> motor 3 moving forward at 100% power
|
||||
"""
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
i2cRecv = self.RawRead(COMMAND_GET_C, I2C_NORM_LEN)
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -523,7 +537,6 @@ e.g.
|
|||
else:
|
||||
return
|
||||
|
||||
|
||||
def SetMotor4(self, power):
|
||||
"""
|
||||
SetMotor4(power)
|
||||
|
|
@ -548,6 +561,7 @@ SetMotor4(1) -> motor 4 moving forward at 100% power
|
|||
if pwm > PWM_MAX:
|
||||
pwm = PWM_MAX
|
||||
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
self.RawWrite(command, [pwm])
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -555,7 +569,6 @@ SetMotor4(1) -> motor 4 moving forward at 100% power
|
|||
except:
|
||||
self.Print('Failed sending motor 4 drive level!')
|
||||
|
||||
|
||||
def GetMotor4(self):
|
||||
"""
|
||||
power = GetMotor4()
|
||||
|
|
@ -567,6 +580,7 @@ e.g.
|
|||
-0.5 -> motor 4 moving reverse at 50% power
|
||||
1 -> motor 4 moving forward at 100% power
|
||||
"""
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
i2cRecv = self.RawRead(COMMAND_GET_D, I2C_NORM_LEN)
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -584,7 +598,6 @@ e.g.
|
|||
else:
|
||||
return
|
||||
|
||||
|
||||
def SetMotors(self, power):
|
||||
"""
|
||||
SetMotors(power)
|
||||
|
|
@ -609,6 +622,7 @@ SetMotors(1) -> all motors are moving forward at 100% power
|
|||
if pwm > PWM_MAX:
|
||||
pwm = PWM_MAX
|
||||
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
self.RawWrite(command, [pwm])
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -616,13 +630,13 @@ SetMotors(1) -> all motors are moving forward at 100% power
|
|||
except:
|
||||
self.Print('Failed sending all motors drive level!')
|
||||
|
||||
|
||||
def MotorsOff(self):
|
||||
"""
|
||||
MotorsOff()
|
||||
|
||||
Sets all motors to stopped, useful when ending a program
|
||||
"""
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
self.RawWrite(COMMAND_ALL_OFF, [0])
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -630,7 +644,6 @@ Sets all motors to stopped, useful when ending a program
|
|||
except:
|
||||
self.Print('Failed sending motors off command!')
|
||||
|
||||
|
||||
def SetLed(self, state):
|
||||
"""
|
||||
SetLed(state)
|
||||
|
|
@ -650,13 +663,13 @@ Sets the current state of the LED, False for off, True for on
|
|||
self.Print('Failed sending LED state!')
|
||||
self.Print(e)
|
||||
|
||||
|
||||
def GetLed(self):
|
||||
"""
|
||||
state = GetLed()
|
||||
|
||||
Reads the current state of the LED, False for off, True for on
|
||||
"""
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
i2cRecv = self.RawRead(COMMAND_GET_LED, I2C_NORM_LEN)
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -670,13 +683,13 @@ Reads the current state of the LED, False for off, True for on
|
|||
else:
|
||||
return True
|
||||
|
||||
|
||||
def ResetEpo(self):
|
||||
"""
|
||||
ResetEpo()
|
||||
|
||||
Resets the EPO latch state, use to allow movement again after the EPO has been tripped
|
||||
"""
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
self.RawWrite(COMMAND_RESET_EPO, [0])
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -684,7 +697,6 @@ Resets the EPO latch state, use to allow movement again after the EPO has been t
|
|||
except:
|
||||
self.Print('Failed resetting EPO!')
|
||||
|
||||
|
||||
def GetEpo(self):
|
||||
"""
|
||||
state = GetEpo()
|
||||
|
|
@ -694,6 +706,7 @@ If False the EPO has not been tripped, and movement is allowed.
|
|||
If True the EPO has been tripped, movement is disabled if the EPO is not ignored (see SetEpoIgnore)
|
||||
Movement can be re-enabled by calling ResetEpo.
|
||||
"""
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
i2cRecv = self.RawRead(COMMAND_GET_EPO, I2C_NORM_LEN)
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -707,7 +720,6 @@ If True the EPO has been tripped, movement is disabled if the EPO is not ignored
|
|||
else:
|
||||
return True
|
||||
|
||||
|
||||
def SetEpoIgnore(self, state):
|
||||
"""
|
||||
SetEpoIgnore(state)
|
||||
|
|
@ -719,6 +731,7 @@ Sets the system to ignore or use the EPO latch, set to False if you have an EPO
|
|||
else:
|
||||
level = COMMAND_VALUE_OFF
|
||||
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
self.RawWrite(COMMAND_SET_EPO_IGNORE, [level])
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -726,13 +739,13 @@ Sets the system to ignore or use the EPO latch, set to False if you have an EPO
|
|||
except:
|
||||
self.Print('Failed sending EPO ignore state!')
|
||||
|
||||
|
||||
def GetEpoIgnore(self):
|
||||
"""
|
||||
state = GetEpoIgnore()
|
||||
|
||||
Reads the system EPO ignore state, False for using the EPO latch, True for ignoring the EPO latch
|
||||
"""
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
i2cRecv = self.RawRead(COMMAND_GET_EPO_IGNORE, I2C_NORM_LEN)
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -746,7 +759,6 @@ Reads the system EPO ignore state, False for using the EPO latch, True for ignor
|
|||
else:
|
||||
return True
|
||||
|
||||
|
||||
def HasNewIrMessage(self):
|
||||
"""
|
||||
state = HasNewIrMessage()
|
||||
|
|
@ -768,7 +780,6 @@ If True there has been a new IR message which can be read using GetIrMessage().
|
|||
else:
|
||||
return True
|
||||
|
||||
|
||||
def GetIrMessage(self):
|
||||
"""
|
||||
message = GetIrMessage()
|
||||
|
|
@ -777,6 +788,7 @@ Reads the last IR message which has been received and clears the new IR message
|
|||
Returns the bytes from the remote control as a hexadecimal string, e.g. 'F75AD5AA8000'
|
||||
Use HasNewIrMessage() to see if there has been a new IR message since the last call.
|
||||
"""
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
i2cRecv = self.RawRead(COMMAND_GET_LAST_IR, I2C_LONG_LEN)
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -790,7 +802,6 @@ Use HasNewIrMessage() to see if there has been a new IR message since the last c
|
|||
message += '%02X' % (i2cRecv[1 + i])
|
||||
return message.rstrip('0')
|
||||
|
||||
|
||||
def SetLedIr(self, state):
|
||||
"""
|
||||
SetLedIr(state)
|
||||
|
|
@ -802,6 +813,7 @@ Sets if IR messages control the state of the LED, False for no effect, True for
|
|||
else:
|
||||
level = COMMAND_VALUE_OFF
|
||||
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
self.RawWrite(COMMAND_SET_LED_IR, [level])
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -809,13 +821,13 @@ Sets if IR messages control the state of the LED, False for no effect, True for
|
|||
except:
|
||||
self.Print('Failed sending LED state!')
|
||||
|
||||
|
||||
def GetLedIr(self):
|
||||
"""
|
||||
state = GetLedIr()
|
||||
|
||||
Reads if IR messages control the state of the LED, False for no effect, True for incoming messages blink the LED
|
||||
"""
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
i2cRecv = self.RawRead(COMMAND_GET_LED_IR, I2C_NORM_LEN)
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -829,7 +841,6 @@ Reads if IR messages control the state of the LED, False for no effect, True for
|
|||
else:
|
||||
return True
|
||||
|
||||
|
||||
def GetAnalog1(self):
|
||||
"""
|
||||
voltage = GetAnalog1()
|
||||
|
|
@ -837,6 +848,7 @@ voltage = GetAnalog1()
|
|||
Reads the current analog level from port #1 (pin 2).
|
||||
Returns the value as a voltage based on the 3.3 V reference pin (pin 1).
|
||||
"""
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
i2cRecv = self.RawRead(COMMAND_GET_ANALOG_1, I2C_NORM_LEN)
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -849,7 +861,6 @@ Returns the value as a voltage based on the 3.3 V reference pin (pin 1).
|
|||
level = float(raw) / float(COMMAND_ANALOG_MAX)
|
||||
return level * 3.3
|
||||
|
||||
|
||||
def GetAnalog2(self):
|
||||
"""
|
||||
voltage = GetAnalog2()
|
||||
|
|
@ -857,6 +868,7 @@ voltage = GetAnalog2()
|
|||
Reads the current analog level from port #2 (pin 4).
|
||||
Returns the value as a voltage based on the 3.3 V reference pin (pin 1).
|
||||
"""
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
i2cRecv = self.RawRead(COMMAND_GET_ANALOG_2, I2C_NORM_LEN)
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -869,7 +881,6 @@ Returns the value as a voltage based on the 3.3 V reference pin (pin 1).
|
|||
level = float(raw) / float(COMMAND_ANALOG_MAX)
|
||||
return level * 3.3
|
||||
|
||||
|
||||
def SetCommsFailsafe(self, state):
|
||||
"""
|
||||
SetCommsFailsafe(state)
|
||||
|
|
@ -884,6 +895,7 @@ The failsafe is disabled at power on
|
|||
else:
|
||||
level = COMMAND_VALUE_OFF
|
||||
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
self.RawWrite(COMMAND_SET_FAILSAFE, [level])
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -891,7 +903,6 @@ The failsafe is disabled at power on
|
|||
except:
|
||||
self.Print('Failed sending communications failsafe state!')
|
||||
|
||||
|
||||
def GetCommsFailsafe(self):
|
||||
"""
|
||||
state = GetCommsFailsafe()
|
||||
|
|
@ -899,6 +910,7 @@ state = GetCommsFailsafe()
|
|||
Read the current system state of the communications failsafe, True for enabled, False for disabled
|
||||
The failsafe will turn the motors off unless it is commanded at least once every 1/4 of a second
|
||||
"""
|
||||
# noinspection PyBroadException
|
||||
try:
|
||||
i2cRecv = self.RawRead(COMMAND_GET_FAILSAFE, I2C_NORM_LEN)
|
||||
except KeyboardInterrupt:
|
||||
|
|
@ -912,18 +924,17 @@ The failsafe will turn the motors off unless it is commanded at least once every
|
|||
else:
|
||||
return True
|
||||
|
||||
|
||||
def Help(self):
|
||||
"""
|
||||
Help()
|
||||
|
||||
Displays the names and descriptions of the various functions and settings provided
|
||||
"""
|
||||
funcList = [ZeroBorg.__dict__.get(a) for a in dir(ZeroBorg) if isinstance(ZeroBorg.__dict__.get(a), types.FunctionType)]
|
||||
funcList = [ZeroBorg.__dict__.get(a) for a in dir(ZeroBorg) if
|
||||
isinstance(ZeroBorg.__dict__.get(a), types.FunctionType)]
|
||||
funcListSorted = sorted(funcList, key=lambda x: x.func_code.co_firstlineno)
|
||||
|
||||
print(self.__doc__)
|
||||
print
|
||||
print()
|
||||
for func in funcListSorted:
|
||||
print('=== %s === %s' % (func.func_name, func.func_doc))
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue