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refactoring

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This commit is contained in:
Andrey Pohilko 2017-09-13 11:55:08 +03:00
parent 48eef133a1
commit 275a1b87b5
1 changed files with 21 additions and 22 deletions
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43
pylegoboost/__init__.py
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@ -63,44 +63,43 @@ class EncodedMotor(Peripheral):
self.port = port self.port = port
def _speed_abs(self, relative): def _speed_abs(self, relative):
relative *= 100 if relative < -1 or relative > 1:
raise ValueError("Invalid speed value: %s", relative)
relative *= 255
if relative < 0: if relative < 0:
relative += 255 relative += 255
return int(relative) return int(relative)
def timed(self, seconds, speed_primary=1, speed_secondary=None, async=False): def _wrap_and_write(self, command, speed_primary, speed_secondary):
if speed_primary < -1 or speed_primary > 1:
raise ValueError("Invalid primary motor speed value: %s", speed_primary)
if speed_secondary is None:
speed_secondary = speed_primary
if speed_secondary < -1 or speed_secondary > 1:
raise ValueError("Invalid secondary motor speed value: %s", speed_primary)
time_ms = int(seconds * 1000)
# set for port # set for port
command = self.SET_PORT_VAL + chr(self.port) command = self.SET_PORT_VAL + chr(self.port) + self.MOVEMENT_TYPE + command
# movement type
command += self.MOVEMENT_TYPE
command += self.TIMED_GROUP if self.port == PORT_AB else self.TIMED_SINGLE
command += struct.pack('<H', time_ms)
command += chr(self._speed_abs(speed_primary)) command += chr(self._speed_abs(speed_primary))
###
if self.port == PORT_AB: if self.port == PORT_AB:
command += chr(self._speed_abs(speed_secondary)) command += chr(self._speed_abs(speed_secondary))
command += self.TRAILER command += self.TRAILER
self.parent.connection.write(MOVE_HUB_HARDWARE_HANDLE, chr(len(command)) + self.PACKET_VER + command) self.parent.connection.write(MOVE_HUB_HARDWARE_HANDLE, chr(len(command)) + self.PACKET_VER + command)
def timed(self, seconds, speed_primary=1, speed_secondary=None, async=False):
if speed_secondary is None:
speed_secondary = speed_primary
# movement type
command = self.TIMED_GROUP if self.port == PORT_AB else self.TIMED_SINGLE
# time
command += struct.pack('<H', int(seconds * 1000))
self._wrap_and_write(command, speed_primary, speed_secondary)
if not async: if not async:
time.sleep(seconds) time.sleep(seconds)
def angled(self, angle, speed_primary, speed_secondary):
pass
class ColorDistanceSensor(Peripheral): class ColorDistanceSensor(Peripheral):
pass pass