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Code Issues Releases Wiki Activity

found where battery voltage is

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This commit is contained in:
Andrey Pohilko 2017-09-15 22:26:33 +03:00
parent ce669eb320
commit d52581c236
5 changed files with 32 additions and 24 deletions
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13
demo.py
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@ -157,6 +157,10 @@ def demo_all(movehub):
demo_motor_sensors(movehub)
def cb_log(val1, val2=None, val3=None):
log.info("V1:%s\tV2:%s\tV3:%s", unpack("<H", val1), val2, val3)
if __name__ == '__main__':
logging.basicConfig(level=logging.INFO)
@ -168,8 +172,9 @@ if __name__ == '__main__':
hub = MoveHub(connection)
demo_motors_timed(hub)
# demo_all(hub)
log.info("Sleeping 60s")
hub.devices[PORT_BATTERY].subscribe(cb_log, 0x00, granularity=2)
sleep(10)
demo_port_cd_motor(hub)
sleep(60)
hub.devices[PORT_BATTERY].unsubscribe(cb_log)
# demo_all(hub)

6
pylgbst/__init__.py
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@ -12,6 +12,7 @@ class MoveHub(object):
:type led: LED
:type tilt_sensor: TiltSensor
:type button: Button
:type battery: Battery
:type color_distance_sensor: pylgbst.peripherals.ColorDistanceSensor
:type motor_external: EncodedMotor
:type port_C: Peripheral
@ -31,6 +32,7 @@ class MoveHub(object):
# shorthand fields
self.button = Button(self)
self.led = None
self.battery = None
self.motor_A = None
self.motor_B = None
self.motor_AB = None
@ -133,6 +135,8 @@ 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:
self.devices[port] = Battery(self, port)
else:
log.warning("Unhandled peripheral type 0x%x on port 0x%x", dev_type, port)
self.devices[port] = Peripheral(self, port)
@ -151,5 +155,7 @@ class MoveHub(object):
self.led = self.devices[port]
elif port == PORT_TILT_SENSOR:
self.tilt_sensor = self.devices[port]
elif port == PORT_BATTERY:
self.battery = self.devices[port]
else:
log.warning("Unhandled port: %s", PORTS[port])

9
pylgbst/constants.py
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@ -18,7 +18,7 @@ PORT_B = 0x38
PORT_AB = 0x39
PORT_TILT_SENSOR = 0x3a
PORT_SOMETHING1 = 0x3B
PORT_SOMETHING2 = 0x3C
PORT_BATTERY = 0x3C # subscribing on this port showed correlation with power voltage
PORTS = {
PORT_A: "A",
@ -29,7 +29,7 @@ PORTS = {
PORT_LED: "LED",
PORT_TILT_SENSOR: "TILT_SENSOR",
PORT_SOMETHING1: "UNK1",
PORT_SOMETHING2: "UNK2",
PORT_BATTERY: "BATTERY",
}
# PACKET TYPES
@ -47,8 +47,7 @@ MSG_SENSOR_SUBSCRIBE_ACK = 0x47
# DEVICE TYPES
DEV_UNKNOWN1 = 0x15 # one of them is button?
DEV_UNKNOWN2 = 0x14 # another is battery?
DEV_BATTERY = 0x14
DEV_DCS = 0x25
DEV_IMOTOR = 0x26
DEV_MOTOR = 0x27
@ -62,7 +61,7 @@ DEVICE_TYPES = {
DEV_TILT_SENSOR: "TILT_SENSOR",
DEV_LED: "LED",
DEV_UNKNOWN1: "UNKNOWN #1",
DEV_UNKNOWN2: "UNKNOWN #2",
DEV_BATTERY: "UNKNOWN #2",
}
# NOTIFICATIONS

16
pylgbst/peripherals.py
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@ -70,7 +70,8 @@ class Peripheral(object):
subscriber(*args, **kwargs)
def handle_port_data(self, data):
log.warning("Unhandled device notification for %s: %s", self, str2hex(data))
log.warning("Unhandled device notification for %s: %s", self, str2hex(data[4:]))
self._notify_subscribers(data[4:])
class LED(Peripheral):
@ -174,8 +175,6 @@ class EncodedMotor(Peripheral):
time.sleep(0.5)
log.debug("Command has finished.")
# TODO: how to tell when motor has stopped?
def handle_port_data(self, data):
if self._port_subscription_mode == MOTOR_MODE_ANGLE:
rotation = unpack("<l", data[4:8])[0]
@ -273,12 +272,11 @@ class ColorDistanceSensor(Peripheral):
log.debug("Unhandled data in mode %s: %s", self._port_subscription_mode, str2hex(data))
class Battery(Peripheral):
def handle_port_data(self, data):
self._notify_subscribers(unpack("<H", data))
class Button(Peripheral):
def __init__(self, parent):
super(Button, self).__init__(parent, 0)
LISTEN_ENCODER_ON_A = b' \x0a\x00 \x41\x37 \x02\x01\x00\x00\x00\x01'
LISTEN_ENCODER_ON_B = b' \x0a\x00 \x41\x38 \x02\x01\x00\x00\x00\x01'
LISTEN_ENCODER_ON_C = b' \x0a\x00 \x41\x01 \x02\x01\x00\x00\x00\x01'
LISTEN_ENCODER_ON_D = b' \x0a\x00 \x41\x02 \x02\x01\x00\x00\x00\x01'

12
vernie.py
View File

@ -47,9 +47,9 @@ class Vernie(MoveHub):
def _reset_head(self):
self.motor_external.timed(1, -0.2)
self.head_to(RIGHT, speed=45)
self.head(RIGHT, speed=45)
def head_to(self, direction=RIGHT, angle=25, speed=0.1):
def head(self, direction=RIGHT, angle=25, speed=0.1):
if direction == STRAIGHT:
angle = -self._head_position
direction = 1
@ -57,13 +57,13 @@ class Vernie(MoveHub):
self.motor_external.angled(direction * angle, speed)
def turn(self, direction, degrees=90, speed=0.3):
self.head_to(STRAIGHT, speed=1)
self.head_to(direction, 35, 1)
self.head(STRAIGHT, speed=1)
self.head(direction, 35, 1)
self.motor_AB.angled(225 * degrees / 90, speed * direction, -speed * direction)
self.head_to(STRAIGHT, speed=1)
self.head(STRAIGHT, speed=1)
def move(self, direction, distance=1, speed=0.3):
self.head_to(STRAIGHT, speed=0.5)
self.head(STRAIGHT, speed=0.5)
self.motor_AB.angled(distance * 450, speed * direction, speed * direction)
def program(self):