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114 lines
3.2 KiB
Python
114 lines
3.2 KiB
Python
import struct
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import time
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from pylgbst.constants import *
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class Peripheral(object):
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"""
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:type parent: MoveHub
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"""
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PACKET_VER = b'\x01'
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def __init__(self, parent, port):
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super(Peripheral, self).__init__()
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self.parent = parent
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self.port = port
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self.working = False
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def _set_port_val(self, value):
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cmd = self.PACKET_VER + chr(MSG_SET_PORT_VAL) + chr(self.port)
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cmd += value
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self.parent.connection.write(MOVE_HUB_HARDWARE_HANDLE, chr(len(cmd)) + cmd) # should we +1 cmd len here?
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def started(self):
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self.working = True
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def finished(self):
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self.working = False
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def __repr__(self):
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return "%s on port %s" % (self.__class__.__name__, PORTS[self.port])
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class LED(Peripheral):
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def set_color(self, color):
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if color not in COLORS:
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raise ValueError("Color %s is not in list of available colors" % color)
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cmd = '\x11\x51\x00' + chr(color)
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self._set_port_val(cmd)
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class EncodedMotor(Peripheral):
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TRAILER = b'\x64\x7f\x03' # NOTE: \x64 is 100, might mean something
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MOVEMENT_TYPE = b'\x11'
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TIMED_SINGLE = b'\x09'
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TIMED_GROUP = b'\x0A'
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ANGLED_SINGLE = b'\x0B'
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ANGLED_GROUP = b'\x0C'
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def __init__(self, parent, port):
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super(EncodedMotor, self).__init__(parent, port)
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if port not in [PORT_A, PORT_B, PORT_AB, PORT_C, PORT_D]:
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raise ValueError("Invalid port for motor: %s" % port)
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def _speed_abs(self, relative):
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if relative < -1 or relative > 1:
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raise ValueError("Invalid speed value: %s", relative)
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absolute = round(relative * 100)
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if absolute < 0:
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absolute += 255
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return int(absolute)
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def _wrap_and_write(self, command, speed_primary, speed_secondary):
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# set for port
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command = self.MOVEMENT_TYPE + command
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command += chr(self._speed_abs(speed_primary))
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if self.port == PORT_AB:
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command += chr(self._speed_abs(speed_secondary))
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command += self.TRAILER
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self._set_port_val(command)
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def timed(self, seconds, speed_primary=1, speed_secondary=None, async=False):
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if speed_secondary is None:
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speed_secondary = speed_primary
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# movement type
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command = self.TIMED_GROUP if self.port == PORT_AB else self.TIMED_SINGLE
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# time
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msec = int(seconds * 1000)
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if msec > 255 * 255:
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raise ValueError("Too large value for seconds: %s", seconds)
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command += struct.pack('<H', msec)
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self._wrap_and_write(command, speed_primary, speed_secondary)
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if not async:
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time.sleep(seconds)
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def angled(self, angle, speed_primary=1, speed_secondary=None):
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if speed_secondary is None:
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speed_secondary = speed_primary
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# movement type
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command = self.ANGLED_GROUP if self.port == PORT_AB else self.ANGLED_SINGLE
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# angle
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command += struct.pack('<I', angle)
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self._wrap_and_write(command, speed_primary, speed_secondary)
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# TODO: how to tell when motor has stopped?
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class ColorDistanceSensor(Peripheral):
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pass
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class TiltSensor(Peripheral):
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pass
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