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Code Issues Releases Wiki Activity

Use command codes in write direct

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This commit is contained in:
Andrey Pokhilko 2020-01-28 20:53:28 +03:00
parent 300268a2ab
commit 17e22bf810
4 changed files with 13 additions and 10 deletions
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2
examples/vernie/android_remote.py
View File

@ -85,7 +85,7 @@ try:
sa = round(c + b / divider, 1)
sb = round(c - b / divider, 1)
logging.info("SpeedA=%s, SpeedB=%s", sa, sb)
robot.motor_AB.start_power(sa, sb)
robot.motor_AB.start_speed(sa, sb)
# time.sleep(0.5)
finally:
robot.motor_AB.stop()

16
pylgbst/peripherals.py
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@ -240,8 +240,8 @@ class LEDRGB(Peripheral):
class Motor(Peripheral):
SUBCMD_START_POWER = 0x01
# SUBCMD_START_POWER = 0x02
SUBCMD_START_POWER = 0x00
SUBCMD_START_POWER_GROUPED = 0x03
SUBCMD_SET_ACC_TIME = 0x05
SUBCMD_SET_DEC_TIME = 0x06
SUBCMD_START_SPEED = 0x07
@ -271,9 +271,6 @@ class Motor(Peripheral):
return int(absolute)
def _write_direct_mode(self, subcmd, params):
if self.virtual_ports:
subcmd += 1 # de-facto rule
params = pack("<B", subcmd) + params
msg = MsgPortOutput(self.port, MsgPortOutput.WRITE_DIRECT_MODE_DATA, params)
self._send_output(msg)
@ -292,15 +289,20 @@ class Motor(Peripheral):
if power_secondary is None:
power_secondary = power_primary
if self.virtual_ports:
cmd = self.SUBCMD_START_POWER_GROUPED
else:
cmd = self.SUBCMD_START_POWER
params = b""
params += pack("<b", self._speed_abs(power_primary))
if self.virtual_ports:
params += pack("<b", self._speed_abs(power_secondary))
self._write_direct_mode(self.SUBCMD_START_POWER, params)
self._write_direct_mode(cmd, params)
def stop(self):
self.start_speed(0)
self.timed(0)
def set_acc_profile(self, seconds, profile_no=0x00):
"""

3
tests/__init__.py
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@ -1,3 +1,4 @@
import sys
import time
from binascii import unhexlify
@ -5,7 +6,7 @@ from pylgbst.comms import Connection
from pylgbst.hub import MoveHub, Hub
from pylgbst.peripherals import *
logging.basicConfig(level=logging.DEBUG)
logging.basicConfig(level=logging.DEBUG if 'pydevd' in sys.modules else logging.INFO)
log = logging.getLogger('test')

2
tests/test_peripherals.py
View File

@ -151,7 +151,7 @@ class PeripheralsTest(unittest.TestCase):
hub.connection.notification_delayed('050082030a', 0.1)
motor.start_power(1.0)
self.assertEqual(b"0800810311510164", hub.writes.pop(1)[1])
self.assertEqual(b"0800810311510064", hub.writes.pop(1)[1])
hub.connection.notification_delayed('050082030a', 0.1)
motor.stop()