From a8254181b2d688468458ec0b3c69048ccb215f7a Mon Sep 17 00:00:00 2001 From: Fabio Manganiello Date: Mon, 26 Feb 2018 01:01:07 +0100 Subject: [PATCH] Fixed ZeroBorg power offsets --- platypush/plugins/gpio/zeroborg/__init__.py | 31 +++++++++++++-------- 1 file changed, 20 insertions(+), 11 deletions(-) diff --git a/platypush/plugins/gpio/zeroborg/__init__.py b/platypush/plugins/gpio/zeroborg/__init__.py index 78a6dca2..c8bc63a5 100644 --- a/platypush/plugins/gpio/zeroborg/__init__.py +++ b/platypush/plugins/gpio/zeroborg/__init__.py @@ -18,16 +18,25 @@ class GpioZeroborgPlugin(Plugin): _drive_thread = None _can_run = False _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 self.v_in = v_in self.v_out = v_out 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.Init() @@ -46,17 +55,17 @@ class GpioZeroborgPlugin(Plugin): right = 0.0 if self._direction == Direction.DIR_UP.value: - left = 1.0 * self.left_power_offset - right = 1.0 / self.right_power_offset + left = 1.0 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_UP] + right = 1.0 + self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_UP] elif self._direction == Direction.DIR_DOWN.value: - left = -1.0 - right = -1.0 + left = -1.0 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN] + right = -1.0 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN] elif self._direction == Direction.DIR_LEFT.value: - left = 2.0 * self.left_power_offset - right = -1.0 / self.right_power_offset + left = 2.0 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_UP] + right = -1.25 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN] elif self._direction == Direction.DIR_RIGHT.value: - left = -1.0 / self.left_power_offset - right = 2.0 * self.right_power_offset + left = -1.25 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN] + right = 2 + self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_UP] elif self._direction is not None: logging.warning('Invalid direction: {}'.format(direction))