Changed battery stuff

README.md

@@ -228,7 +228,7 @@ hub.button.subscribe(callback)
 
 ### Power Voltage & Battery
 
-`MoveHub` class has field `battery` to subscribe to battery voltage status. Callback accepts single parameter with current value. The range of values is unknown, it's 2-byte integer. Every time data is received, value is also written into `last_value` field of Battery object.
+`MoveHub` class has field `voltage` to subscribe to battery voltage status. Callback accepts single parameter with current value. The range of values is float between `0` and `1.0`. Every time data is received, value is also written into `last_value` field of `Voltage` object. Values less than `0.2` are known as lowest values, when unit turns off.
 
 ```python
 from pylgbst import MoveHub
@@ -238,9 +238,9 @@ def callback(value):
     print("Voltage: %s" % value)
 
 hub = MoveHub()
-hub.battery.subscribe(callback)
+hub.voltage.subscribe(callback)
 time.sleep(1)
-print ("Value: " % hub.battery.last_value)
+print ("Value: " % hub.voltage.last_value)
 ```
 
 ### General Notes

pylgbst/constants.py

@@ -12,8 +12,8 @@ PORT_A = 0x37
 PORT_B = 0x38
 PORT_AB = 0x39
 PORT_TILT_SENSOR = 0x3A
-PORT_SOMETHING1 = 0x3B
+PORT_AMPERAGE = 0x3B
-PORT_BATTERY = 0x3C  # subscribing on this port showed correlation with power voltage
+PORT_VOLTAGE = 0x3C
 
 PORTS = {
     PORT_A: "A",
@@ -23,8 +23,8 @@ PORTS = {
     PORT_D: "D",
     PORT_LED: "LED",
     PORT_TILT_SENSOR: "TILT_SENSOR",
-    PORT_SOMETHING1: "UNK1",
+    PORT_AMPERAGE: "AMPERAGE",
-    PORT_BATTERY: "BATTERY",
+    PORT_VOLTAGE: "VOLTAGE",
 }
 
 # PACKET TYPES
@@ -42,8 +42,8 @@ MSG_SENSOR_DATA = 0x45
 MSG_SENSOR_SUBSCRIBE_ACK = 0x47
 
 # DEVICE TYPES
-DEV_UNKNOWN1 = 0x15  # one of them is button? onboard temperature? maybe another kind of voltage, they have same params
+DEV_AMPERAGE = 0x15  # one of them is button? onboard temperature? maybe another kind of voltage, they have same params
-DEV_BATTERY = 0x14
+DEV_VOLTAGE = 0x14
 DEV_DCS = 0x25
 DEV_IMOTOR = 0x26
 DEV_MOTOR = 0x27
@@ -56,8 +56,8 @@ DEVICE_TYPES = {
     DEV_MOTOR: "MOTOR",
     DEV_TILT_SENSOR: "TILT_SENSOR",
     DEV_LED: "LED",
-    DEV_UNKNOWN1: "UNKNOWN #1",
+    DEV_AMPERAGE: "AMPERAGE",
-    DEV_BATTERY: "BATTERY",
+    DEV_VOLTAGE: "VOLTAGE",
 }
 
 # NOTIFICATIONS

pylgbst/movehub.py

@@ -4,7 +4,8 @@ from struct import pack
 
 from pylgbst.comms import BLEConnection, str2hex, get_byte
 from pylgbst.constants import *
-from pylgbst.peripherals import Button, EncodedMotor, ColorDistanceSensor, LED, TiltSensor, Battery, Peripheral
+from pylgbst.peripherals import Button, EncodedMotor, ColorDistanceSensor, LED, TiltSensor, Voltage, Peripheral, \
+    Amperage
 
 log = logging.getLogger('movehub')
 
@@ -19,7 +20,7 @@ class MoveHub(object):
     :type led: LED
     :type tilt_sensor: TiltSensor
     :type button: Button
-    :type battery: Battery
+    :type amperage: Voltage
     :type color_distance_sensor: pylgbst.peripherals.ColorDistanceSensor
     :type motor_external: EncodedMotor
     :type port_C: Peripheral
@@ -39,7 +40,8 @@ class MoveHub(object):
         # shorthand fields
         self.button = Button(self)
         self.led = None
-        self.battery = None
+        self.amperage = None
+        self.voltage = None
         self.motor_A = None
         self.motor_B = None
         self.motor_AB = None
@@ -59,7 +61,7 @@ class MoveHub(object):
         builtin_devices = ()
         for num in range(0, 60):
             builtin_devices = (self.led, self.motor_A, self.motor_B,
-                               self.motor_AB, self.tilt_sensor, self.button, self.battery)
+                               self.motor_AB, self.tilt_sensor, self.button, self.amperage, self.voltage)
             if None not in builtin_devices:
                 return
             log.debug("Waiting for builtin devices to appear: %s", builtin_devices)
@@ -148,8 +150,10 @@ class MoveHub(object):
             self.devices[port] = LED(self, port)
         elif dev_type == DEV_TILT_SENSOR:
             self.devices[port] = TiltSensor(self, port)
-        elif dev_type == DEV_BATTERY:
+        elif dev_type == DEV_AMPERAGE:
-            self.devices[port] = Battery(self, port)
+            self.devices[port] = Amperage(self, port)
+        elif dev_type == DEV_VOLTAGE:
+            self.devices[port] = Voltage(self, port)
         else:
             log.debug("Unhandled peripheral type 0x%x on port 0x%x", dev_type, port)
             self.devices[port] = Peripheral(self, port)
@@ -168,8 +172,10 @@ class MoveHub(object):
             self.led = self.devices[port]
         elif port == PORT_TILT_SENSOR:
             self.tilt_sensor = self.devices[port]
-        elif port == PORT_BATTERY:
+        elif port == PORT_AMPERAGE:
-            self.battery = self.devices[port]
+            self.amperage = self.devices[port]
+        elif port == PORT_VOLTAGE:
+            self.voltage = self.devices[port]
         else:
             log.debug("Unhandled port: %s", PORTS[port])
 

pylgbst/peripherals.py

@@ -377,25 +377,44 @@ class ColorDistanceSensor(Peripheral):
             log.debug("Unhandled data in mode %s: %s", self._port_subscription_mode, str2hex(data))
 
 
-class Battery(Peripheral):
+class Voltage(Peripheral):
     MODE1 = 0x00  # give less frequent notifications
     MODE2 = 0x01  # give more frequent notifications, maybe different voltage (cpu vs board?)
 
     def __init__(self, parent, port):
-        super(Battery, self).__init__(parent, port)
+        super(Voltage, self).__init__(parent, port)
         self.last_value = None
 
     def subscribe(self, callback, mode=MODE1, granularity=1, async=False):
-        super(Battery, self).subscribe(callback, mode, granularity)
+        super(Voltage, self).subscribe(callback, mode, granularity)
 
     # we know only voltage subscription from it. is it really battery or just onboard voltage?
-    # device has turned off on 1b0e000600453ba800 - 168d
+    # device has turned off on 1b0e00060045 3b a800 - 168 dec / 1b0e00060045 3c 0803 / 1b0e000600453c 0703
     # moderate 9v ~= 3840
     # good 7.5v ~= 3892
     # liion 5v ~= 2100
     def handle_port_data(self, data):
         val = unpack("<H", data[4:6])[0]
-        self.last_value = val
+        self.last_value = val / 4096.0
+        if self.last_value < 0.2:
+            logging.warning("Battery low! %s%%", int(100 * self.last_value))
+        self._notify_subscribers(self.last_value)
+
+
+class Amperage(Peripheral):
+    MODE1 = 0x00  # give less frequent notifications
+    MODE2 = 0x01  # give more frequent notifications, maybe different voltage (cpu vs board?)
+
+    def __init__(self, parent, port):
+        super(Amperage, self).__init__(parent, port)
+        self.last_value = None
+
+    def subscribe(self, callback, mode=MODE1, granularity=1, async=False):
+        super(Amperage, self).subscribe(callback, mode, granularity)
+
+    def handle_port_data(self, data):
+        val = unpack("<H", data[4:6])[0]
+        self.last_value = val / 4096.0
         self._notify_subscribers(self.last_value)