From f16719f57565e240ad326e76e741e45aa101d0a4 Mon Sep 17 00:00:00 2001 From: Fabio Manganiello Date: Tue, 20 Feb 2018 20:09:29 +0100 Subject: [PATCH] Added ZeroBorg plugin draft --- platypush/plugins/gpio/zeroborg.py | 929 +++++++++++++++++++++++++++++ 1 file changed, 929 insertions(+) create mode 100755 platypush/plugins/gpio/zeroborg.py diff --git a/platypush/plugins/gpio/zeroborg.py b/platypush/plugins/gpio/zeroborg.py new file mode 100755 index 000000000..f3fd315ba --- /dev/null +++ b/platypush/plugins/gpio/zeroborg.py @@ -0,0 +1,929 @@ +#!/usr/bin/env python +# coding: latin-1 +""" +This module is designed to communicate with the ZeroBorg + +Use by creating an instance of the class, call the Init function, then command as desired, e.g. +import ZeroBorg +ZB = ZeroBorg.ZeroBorg() +ZB.Init() +# User code here, use ZB to control the board + +Multiple boards can be used when configured with different I?C addresses by creating multiple instances, e.g. +import ZeroBorg +ZB1 = ZeroBorg.ZeroBorg() +ZB2 = ZeroBorg.ZeroBorg() +ZB1.i2cAddress = 0x44 +ZB2.i2cAddress = 0x45 +ZB1.Init() +ZB2.Init() +# User code here, use ZB1 and ZB2 to control each board separately + +For explanations of the functions available call the Help function, e.g. +import ZeroBorg +ZB = ZeroBorg.ZeroBorg() +ZB.Help() +See the website at www.piborg.org/zeroborg for more details +""" + +# Import the libraries we need +import io +import fcntl +import types +import time + +# Constant values +I2C_SLAVE = 0x0703 +PWM_MAX = 255 +I2C_NORM_LEN = 4 +I2C_LONG_LEN = 24 + +I2C_ID_ZEROBORG = 0x40 + +COMMAND_SET_LED = 1 # Set the LED status +COMMAND_GET_LED = 2 # Get the LED status +COMMAND_SET_A_FWD = 3 # Set motor 1 PWM rate in a forwards direction +COMMAND_SET_A_REV = 4 # Set motor 1 PWM rate in a reverse direction +COMMAND_GET_A = 5 # Get motor 1 direction and PWM rate +COMMAND_SET_B_FWD = 6 # Set motor 2 PWM rate in a forwards direction +COMMAND_SET_B_REV = 7 # Set motor 2 PWM rate in a reverse direction +COMMAND_GET_B = 8 # Get motor 2 direction and PWM rate +COMMAND_SET_C_FWD = 9 # Set motor 3 PWM rate in a forwards direction +COMMAND_SET_C_REV = 10 # Set motor 3 PWM rate in a reverse direction +COMMAND_GET_C = 11 # Get motor 3 direction and PWM rate +COMMAND_SET_D_FWD = 12 # Set motor 4 PWM rate in a forwards direction +COMMAND_SET_D_REV = 13 # Set motor 4 PWM rate in a reverse direction +COMMAND_GET_D = 14 # Get motor 4 direction and PWM rate +COMMAND_ALL_OFF = 15 # Switch everything off +COMMAND_SET_ALL_FWD = 16 # Set all motors PWM rate in a forwards direction +COMMAND_SET_ALL_REV = 17 # Set all motors PWM rate in a reverse direction +COMMAND_SET_FAILSAFE = 18 # Set the failsafe flag, turns the motors off if communication is interrupted +COMMAND_GET_FAILSAFE = 19 # Get the failsafe flag +COMMAND_RESET_EPO = 20 # Resets the EPO flag, use after EPO has been tripped and switch is now clear +COMMAND_GET_EPO = 21 # Get the EPO latched flag +COMMAND_SET_EPO_IGNORE = 22 # Set the EPO ignored flag, allows the system to run without an EPO +COMMAND_GET_EPO_IGNORE = 23 # Get the EPO ignored flag +COMMAND_GET_NEW_IR = 24 # Get the new IR message received flag +COMMAND_GET_LAST_IR = 25 # Get the last IR message received (long message, resets new IR flag) +COMMAND_SET_LED_IR = 26 # Set the LED for indicating IR messages +COMMAND_GET_LED_IR = 27 # Get if the LED is being used to indicate IR messages +COMMAND_GET_ANALOG_1 = 28 # Get the analog reading from port #1, pin 2 +COMMAND_GET_ANALOG_2 = 29 # Get the analog reading from port #2, pin 4 +COMMAND_GET_ID = 0x99 # Get the board identifier +COMMAND_SET_I2C_ADD = 0xAA # Set a new I2C address + +COMMAND_VALUE_FWD = 1 # I2C value representing forward +COMMAND_VALUE_REV = 2 # I2C value representing reverse + +COMMAND_VALUE_ON = 1 # I2C value representing on +COMMAND_VALUE_OFF = 0 # I2C value representing off + +COMMAND_ANALOG_MAX = 0x3FF # Maximum value for analog readings + +IR_MAX_BYTES = I2C_LONG_LEN - 2 + +def ScanForZeroBorg(busNumber = 1): + """ +ScanForZeroBorg([busNumber]) + +Scans the I?C bus for a ZeroBorg boards and returns a list of all usable addresses +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 + """ + found = [] + print('Scanning I?C bus #%d' % (busNumber)) + bus = ZeroBorg() + for address in range(0x03, 0x78, 1): + try: + bus.InitBusOnly(busNumber, address) + i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_NORM_LEN) + if len(i2cRecv) == I2C_NORM_LEN: + if i2cRecv[1] == I2C_ID_ZEROBORG: + print('Found ZeroBorg at %02X' % (address)) + found.append(address) + else: + pass + else: + pass + except KeyboardInterrupt: + raise + except: + pass + if len(found) == 0: + print('No ZeroBorg boards found, is bus #%d correct (should be 0 for Rev 1, 1 for Rev 2)' % (busNumber)) + elif len(found) == 1: + print('1 ZeroBorg board found') + else: + print('%d ZeroBorg boards found' % (len(found))) + return found + + +def SetNewAddress(newAddress, oldAddress = -1, busNumber = 1): + """ +SetNewAddress(newAddress, [oldAddress], [busNumber]) + +Scans the I?C bus for the first ZeroBorg and sets it to a new I2C address +If oldAddress is supplied it will change the address of the board at that address rather than scanning the bus +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 +Warning, this new I?C address will still be used after resetting the power on the device + """ + if newAddress < 0x03: + print('Error, I?C addresses below 3 (0x03) are reserved, use an address between 3 (0x03) and 119 (0x77)') + return + elif newAddress > 0x77: + print('Error, I?C addresses above 119 (0x77) are reserved, use an address between 3 (0x03) and 119 (0x77)') + return + if oldAddress < 0x0: + found = ScanForZeroBorg(busNumber) + if len(found) < 1: + print('No ZeroBorg boards found, cannot set a new I?C address!') + return + else: + oldAddress = found[0] + print('Changing I2C address from %02X to %02X (bus #%d)' % (oldAddress, newAddress, busNumber)) + bus = ZeroBorg() + bus.InitBusOnly(busNumber, oldAddress) + try: + i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_NORM_LEN) + if len(i2cRecv) == I2C_NORM_LEN: + if i2cRecv[1] == I2C_ID_ZEROBORG: + foundChip = True + print('Found ZeroBorg at %02X' % (oldAddress)) + else: + foundChip = False + print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (oldAddress, i2cRecv[1], I2C_ID_ZEROBORG)) + else: + foundChip = False + print('Missing ZeroBorg at %02X' % (oldAddress)) + except KeyboardInterrupt: + raise + except: + foundChip = False + print('Missing ZeroBorg at %02X' % (oldAddress)) + if foundChip: + bus.RawWrite(COMMAND_SET_I2C_ADD, [newAddress]) + time.sleep(0.1) + print('Address changed to %02X, attempting to talk with the new address' % (newAddress)) + try: + bus.InitBusOnly(busNumber, newAddress) + i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_NORM_LEN) + if len(i2cRecv) == I2C_NORM_LEN: + if i2cRecv[1] == I2C_ID_ZEROBORG: + foundChip = True + print('Found ZeroBorg at %02X' % (newAddress)) + else: + foundChip = False + print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (newAddress, i2cRecv[1], I2C_ID_ZEROBORG)) + else: + foundChip = False + print('Missing ZeroBorg at %02X' % (newAddress)) + except KeyboardInterrupt: + raise + except: + foundChip = False + print('Missing ZeroBorg at %02X' % (newAddress)) + if foundChip: + print('New I?C address of %02X set successfully' % (newAddress)) + else: + print('Failed to set new I?C address...') + + +# Class used to control ZeroBorg +class ZeroBorg: + """ +This module is designed to communicate with the ZeroBorg + +busNumber I?C bus on which the ZeroBorg is attached (Rev 1 is bus 0, Rev 2 is bus 1) +bus the smbus object used to talk to the I?C bus +i2cAddress The I?C address of the ZeroBorg chip to control +foundChip True if the ZeroBorg chip can be seen, False otherwise +printFunction Function reference to call when printing text, if None "print" is used + """ + + # Shared values used by this class + busNumber = 1 # Check here for Rev 1 vs Rev 2 and select the correct bus + i2cAddress = I2C_ID_ZEROBORG # I?C address, override for a different address + foundChip = False + printFunction = None + i2cWrite = None + i2cRead = None + + + def RawWrite(self, command, data): + """ +RawWrite(command, data) + +Sends a raw command on the I2C bus to the ZeroBorg +Command codes can be found at the top of ZeroBorg.py, data is a list of 0 or more byte values + +Under most circumstances you should use the appropriate function instead of RawWrite + """ + rawOutput = chr(command) + for singleByte in data: + rawOutput += chr(singleByte) + self.i2cWrite.write(rawOutput) + + + def RawRead(self, command, length, retryCount = 3): + """ +RawRead(command, length, [retryCount]) + +Reads data back from the ZeroBorg after sending a GET command +Command codes can be found at the top of ZeroBorg.py, length is the number of bytes to read back + +The function checks that the first byte read back matches the requested command +If it does not it will retry the request until retryCount is exhausted (default is 3 times) + +Under most circumstances you should use the appropriate function instead of RawRead + """ + while retryCount > 0: + self.RawWrite(command, []) + rawReply = self.i2cRead.read(length) + reply = [] + for singleByte in rawReply: + reply.append(ord(singleByte)) + if command == reply[0]: + break + else: + retryCount -= 1 + if retryCount > 0: + return reply + else: + raise IOError('I2C read for command %d failed' % (command)) + + + def InitBusOnly(self, busNumber, address): + """ +InitBusOnly(busNumber, address) + +Prepare the I2C driver for talking to a ZeroBorg on the specified bus and I2C address +This call does not check the board is present or working, under most circumstances use Init() instead + """ + self.busNumber = busNumber + self.i2cAddress = address + self.i2cRead = io.open("/dev/i2c-" + str(self.busNumber), "rb", buffering = 0) + fcntl.ioctl(self.i2cRead, I2C_SLAVE, self.i2cAddress) + self.i2cWrite = io.open("/dev/i2c-" + str(self.busNumber), "wb", buffering = 0) + fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress) + + + def Print(self, message): + """ +Print(message) + +Wrapper used by the ZeroBorg instance to print messages, will call printFunction if set, print otherwise + """ + if self.printFunction == None: + print(message) + else: + self.printFunction(message) + + + def NoPrint(self, message): + """ +NoPrint(message) + +Does nothing, intended for disabling diagnostic printout by using: +ZB = ZeroBorg.ZeroBorg() +ZB.printFunction = ZB.NoPrint + """ + pass + + + def Init(self, tryOtherBus = False): + """ +Init([tryOtherBus]) + +Prepare the I2C driver for talking to the ZeroBorg + +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 + This is only really useful for early Raspberry Pi models! + """ + self.Print('Loading ZeroBorg on bus %d, address %02X' % (self.busNumber, self.i2cAddress)) + + # Open the bus + self.i2cRead = io.open("/dev/i2c-" + str(self.busNumber), "rb", buffering = 0) + fcntl.ioctl(self.i2cRead, I2C_SLAVE, self.i2cAddress) + self.i2cWrite = io.open("/dev/i2c-" + str(self.busNumber), "wb", buffering = 0) + fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress) + + # Check for ZeroBorg + try: + i2cRecv = self.RawRead(COMMAND_GET_ID, I2C_NORM_LEN) + if len(i2cRecv) == I2C_NORM_LEN: + if i2cRecv[1] == I2C_ID_ZEROBORG: + self.foundChip = True + self.Print('Found ZeroBorg at %02X' % (self.i2cAddress)) + else: + self.foundChip = False + 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)) + else: + self.foundChip = False + self.Print('Missing ZeroBorg at %02X' % (self.i2cAddress)) + except KeyboardInterrupt: + raise + except: + self.foundChip = False + self.Print('Missing ZeroBorg at %02X' % (self.i2cAddress)) + + # See if we are missing chips + if not self.foundChip: + self.Print('ZeroBorg was not found') + if tryOtherBus: + if self.busNumber == 1: + self.busNumber = 0 + else: + self.busNumber = 1 + self.Print('Trying bus %d instead' % (self.busNumber)) + self.Init(False) + else: + self.Print('Are you sure your ZeroBorg is properly attached, the correct address is used, and the I2C drivers are running?') + self.bus = None + else: + self.Print('ZeroBorg loaded on bus %d' % (self.busNumber)) + + + def SetMotor1(self, power): + """ +SetMotor1(power) + +Sets the drive level for motor 1, from +1 to -1. +e.g. +SetMotor1(0) -> motor 1 is stopped +SetMotor1(0.75) -> motor 1 moving forward at 75% power +SetMotor1(-0.5) -> motor 1 moving reverse at 50% power +SetMotor1(1) -> motor 1 moving forward at 100% power + """ + if power < 0: + # Reverse + command = COMMAND_SET_A_REV + pwm = -int(PWM_MAX * power) + if pwm > PWM_MAX: + pwm = PWM_MAX + else: + # Forward / stopped + command = COMMAND_SET_A_FWD + pwm = int(PWM_MAX * power) + if pwm > PWM_MAX: + pwm = PWM_MAX + + try: + self.RawWrite(command, [pwm]) + except KeyboardInterrupt: + raise + except: + self.Print('Failed sending motor 1 drive level!') + + + def GetMotor1(self): + """ +power = GetMotor1() + +Gets the drive level for motor 1, from +1 to -1. +e.g. +0 -> motor 1 is stopped +0.75 -> motor 1 moving forward at 75% power +-0.5 -> motor 1 moving reverse at 50% power +1 -> motor 1 moving forward at 100% power + """ + try: + i2cRecv = self.RawRead(COMMAND_GET_A, I2C_NORM_LEN) + except KeyboardInterrupt: + raise + except: + self.Print('Failed reading motor 1 drive level!') + return + + power = float(i2cRecv[2]) / float(PWM_MAX) + + if i2cRecv[1] == COMMAND_VALUE_FWD: + return power + elif i2cRecv[1] == COMMAND_VALUE_REV: + return -power + else: + return + + + def SetMotor2(self, power): + """ +SetMotor1(power) + +Sets the drive level for motor 2, from +1 to -1. +e.g. +SetMotor2(0) -> motor 2 is stopped +SetMotor2(0.75) -> motor 2 moving forward at 75% power +SetMotor2(-0.5) -> motor 2 moving reverse at 50% power +SetMotor2(1) -> motor 2 moving forward at 100% power + """ + if power < 0: + # Reverse + command = COMMAND_SET_B_REV + pwm = -int(PWM_MAX * power) + if pwm > PWM_MAX: + pwm = PWM_MAX + else: + # Forward / stopped + command = COMMAND_SET_B_FWD + pwm = int(PWM_MAX * power) + if pwm > PWM_MAX: + pwm = PWM_MAX + + try: + self.RawWrite(command, [pwm]) + except KeyboardInterrupt: + raise + except: + self.Print('Failed sending motor 2 drive level!') + + + def GetMotor2(self): + """ +power = GetMotor2() + +Gets the drive level for motor 2, from +1 to -1. +e.g. +0 -> motor 2 is stopped +0.75 -> motor 2 moving forward at 75% power +-0.5 -> motor 2 moving reverse at 50% power +1 -> motor 2 moving forward at 100% power + """ + try: + i2cRecv = self.RawRead(COMMAND_GET_B, I2C_NORM_LEN) + except KeyboardInterrupt: + raise + except: + self.Print('Failed reading motor 2 drive level!') + return + + power = float(i2cRecv[2]) / float(PWM_MAX) + + if i2cRecv[1] == COMMAND_VALUE_FWD: + return power + elif i2cRecv[1] == COMMAND_VALUE_REV: + return -power + else: + return + + + def SetMotor3(self, power): + """ +SetMotor3(power) + +Sets the drive level for motor 3, from +1 to -1. +e.g. +SetMotor3(0) -> motor 3 is stopped +SetMotor3(0.75) -> motor 3 moving forward at 75% power +SetMotor3(-0.5) -> motor 3 moving reverse at 50% power +SetMotor3(1) -> motor 3 moving forward at 100% power + """ + if power < 0: + # Reverse + command = COMMAND_SET_C_REV + pwm = -int(PWM_MAX * power) + if pwm > PWM_MAX: + pwm = PWM_MAX + else: + # Forward / stopped + command = COMMAND_SET_C_FWD + pwm = int(PWM_MAX * power) + if pwm > PWM_MAX: + pwm = PWM_MAX + + try: + self.RawWrite(command, [pwm]) + except KeyboardInterrupt: + raise + except: + self.Print('Failed sending motor 3 drive level!') + + + def GetMotor3(self): + """ +power = GetMotor3() + +Gets the drive level for motor 3, from +1 to -1. +e.g. +0 -> motor 3 is stopped +0.75 -> motor 3 moving forward at 75% power +-0.5 -> motor 3 moving reverse at 50% power +1 -> motor 3 moving forward at 100% power + """ + try: + i2cRecv = self.RawRead(COMMAND_GET_C, I2C_NORM_LEN) + except KeyboardInterrupt: + raise + except: + self.Print('Failed reading motor 3 drive level!') + return + + power = float(i2cRecv[2]) / float(PWM_MAX) + + if i2cRecv[1] == COMMAND_VALUE_FWD: + return power + elif i2cRecv[1] == COMMAND_VALUE_REV: + return -power + else: + return + + + def SetMotor4(self, power): + """ +SetMotor4(power) + +Sets the drive level for motor 4, from +1 to -1. +e.g. +SetMotor4(0) -> motor 4 is stopped +SetMotor4(0.75) -> motor 4 moving forward at 75% power +SetMotor4(-0.5) -> motor 4 moving reverse at 50% power +SetMotor4(1) -> motor 4 moving forward at 100% power + """ + if power < 0: + # Reverse + command = COMMAND_SET_D_REV + pwm = -int(PWM_MAX * power) + if pwm > PWM_MAX: + pwm = PWM_MAX + else: + # Forward / stopped + command = COMMAND_SET_D_FWD + pwm = int(PWM_MAX * power) + if pwm > PWM_MAX: + pwm = PWM_MAX + + try: + self.RawWrite(command, [pwm]) + except KeyboardInterrupt: + raise + except: + self.Print('Failed sending motor 4 drive level!') + + + def GetMotor4(self): + """ +power = GetMotor4() + +Gets the drive level for motor 4, from +1 to -1. +e.g. +0 -> motor 4 is stopped +0.75 -> motor 4 moving forward at 75% power +-0.5 -> motor 4 moving reverse at 50% power +1 -> motor 4 moving forward at 100% power + """ + try: + i2cRecv = self.RawRead(COMMAND_GET_D, I2C_NORM_LEN) + except KeyboardInterrupt: + raise + except: + self.Print('Failed reading motor 4 drive level!') + return + + power = float(i2cRecv[2]) / float(PWM_MAX) + + if i2cRecv[1] == COMMAND_VALUE_FWD: + return power + elif i2cRecv[1] == COMMAND_VALUE_REV: + return -power + else: + return + + + def SetMotors(self, power): + """ +SetMotors(power) + +Sets the drive level for all motors, from +1 to -1. +e.g. +SetMotors(0) -> all motors are stopped +SetMotors(0.75) -> all motors are moving forward at 75% power +SetMotors(-0.5) -> all motors are moving reverse at 50% power +SetMotors(1) -> all motors are moving forward at 100% power + """ + if power < 0: + # Reverse + command = COMMAND_SET_ALL_REV + pwm = -int(PWM_MAX * power) + if pwm > PWM_MAX: + pwm = PWM_MAX + else: + # Forward / stopped + command = COMMAND_SET_ALL_FWD + pwm = int(PWM_MAX * power) + if pwm > PWM_MAX: + pwm = PWM_MAX + + try: + self.RawWrite(command, [pwm]) + except KeyboardInterrupt: + raise + except: + self.Print('Failed sending all motors drive level!') + + + def MotorsOff(self): + """ +MotorsOff() + +Sets all motors to stopped, useful when ending a program + """ + try: + self.RawWrite(COMMAND_ALL_OFF, [0]) + except KeyboardInterrupt: + raise + except: + self.Print('Failed sending motors off command!') + + + def SetLed(self, state): + """ +SetLed(state) + +Sets the current state of the LED, False for off, True for on + """ + if state: + level = COMMAND_VALUE_ON + else: + level = COMMAND_VALUE_OFF + + try: + self.RawWrite(COMMAND_SET_LED, [level]) + except KeyboardInterrupt: + raise + except: + self.Print('Failed sending LED state!') + + + def GetLed(self): + """ +state = GetLed() + +Reads the current state of the LED, False for off, True for on + """ + try: + i2cRecv = self.RawRead(COMMAND_GET_LED, I2C_NORM_LEN) + except KeyboardInterrupt: + raise + except: + self.Print('Failed reading LED state!') + return + + if i2cRecv[1] == COMMAND_VALUE_OFF: + return False + else: + return True + + + def ResetEpo(self): + """ +ResetEpo() + +Resets the EPO latch state, use to allow movement again after the EPO has been tripped + """ + try: + self.RawWrite(COMMAND_RESET_EPO, [0]) + except KeyboardInterrupt: + raise + except: + self.Print('Failed resetting EPO!') + + + def GetEpo(self): + """ +state = GetEpo() + +Reads the system EPO latch state. +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. + """ + try: + i2cRecv = self.RawRead(COMMAND_GET_EPO, I2C_NORM_LEN) + except KeyboardInterrupt: + raise + except: + self.Print('Failed reading EPO ignore state!') + return + + if i2cRecv[1] == COMMAND_VALUE_OFF: + return False + else: + return True + + + def SetEpoIgnore(self, state): + """ +SetEpoIgnore(state) + +Sets the system to ignore or use the EPO latch, set to False if you have an EPO switch, True if you do not + """ + if state: + level = COMMAND_VALUE_ON + else: + level = COMMAND_VALUE_OFF + + try: + self.RawWrite(COMMAND_SET_EPO_IGNORE, [level]) + except KeyboardInterrupt: + raise + 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 + """ + try: + i2cRecv = self.RawRead(COMMAND_GET_EPO_IGNORE, I2C_NORM_LEN) + except KeyboardInterrupt: + raise + except: + self.Print('Failed reading EPO ignore state!') + return + + if i2cRecv[1] == COMMAND_VALUE_OFF: + return False + else: + return True + + + def HasNewIrMessage(self): + """ +state = HasNewIrMessage() + +Reads the new IR message received flag. +If False there has been no messages to the IR sensor since the last read. +If True there has been a new IR message which can be read using GetIrMessage(). + """ + try: + i2cRecv = self.RawRead(COMMAND_GET_NEW_IR, I2C_NORM_LEN) + except KeyboardInterrupt: + raise + except: + self.Print('Failed reading new IR message received flag!') + return + + if i2cRecv[1] == COMMAND_VALUE_OFF: + return False + else: + return True + + + def GetIrMessage(self): + """ +message = GetIrMessage() + +Reads the last IR message which has been received and clears the new IR message received flag. +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. + """ + try: + i2cRecv = self.RawRead(COMMAND_GET_LAST_IR, I2C_LONG_LEN) + except KeyboardInterrupt: + raise + except: + self.Print('Failed reading IR message!') + return + + message = '' + for i in range(IR_MAX_BYTES): + message += '%02X' % (i2cRecv[1+i]) + return message.rstrip('0') + + + def SetLedIr(self, state): + """ +SetLedIr(state) + +Sets if IR messages control the state of the LED, False for no effect, True for incoming messages blink the LED + """ + if state: + level = COMMAND_VALUE_ON + else: + level = COMMAND_VALUE_OFF + + try: + self.RawWrite(COMMAND_SET_LED_IR, [level]) + except KeyboardInterrupt: + raise + 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 + """ + try: + i2cRecv = self.RawRead(COMMAND_GET_LED_IR, I2C_NORM_LEN) + except KeyboardInterrupt: + raise + except: + self.Print('Failed reading LED state!') + return + + if i2cRecv[1] == COMMAND_VALUE_OFF: + return False + else: + return True + + + def GetAnalog1(self): + """ +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). + """ + try: + i2cRecv = self.RawRead(COMMAND_GET_ANALOG_1, I2C_NORM_LEN) + except KeyboardInterrupt: + raise + except: + self.Print('Failed reading analog level #1!') + return + + raw = (i2cRecv[1] << 8) + i2cRecv[2] + level = float(raw) / float(COMMAND_ANALOG_MAX) + return level * 3.3 + + + def GetAnalog2(self): + """ +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). + """ + try: + i2cRecv = self.RawRead(COMMAND_GET_ANALOG_2, I2C_NORM_LEN) + except KeyboardInterrupt: + raise + except: + self.Print('Failed reading analog level #2!') + return + + raw = (i2cRecv[1] << 8) + i2cRecv[2] + level = float(raw) / float(COMMAND_ANALOG_MAX) + return level * 3.3 + + + def SetCommsFailsafe(self, state): + """ +SetCommsFailsafe(state) + +Sets the system to enable or disable the communications failsafe +The failsafe will turn the motors off unless it is commanded at least once every 1/4 of a second +Set to True to enable this failsafe, set to False to disable this failsafe +The failsafe is disabled at power on + """ + if state: + level = COMMAND_VALUE_ON + else: + level = COMMAND_VALUE_OFF + + try: + self.RawWrite(COMMAND_SET_FAILSAFE, [level]) + except KeyboardInterrupt: + raise + except: + self.Print('Failed sending communications failsafe state!') + + + def GetCommsFailsafe(self): + """ +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 + """ + try: + i2cRecv = self.RawRead(COMMAND_GET_FAILSAFE, I2C_NORM_LEN) + except KeyboardInterrupt: + raise + except: + self.Print('Failed reading communications failsafe state!') + return + + if i2cRecv[1] == COMMAND_VALUE_OFF: + return False + 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)] + funcListSorted = sorted(funcList, key = lambda x: x.func_code.co_firstlineno) + + print(self.__doc__) + print + for func in funcListSorted: + print('=== %s === %s' % (func.func_name, func.func_doc)) +