/
motorBoardMD49.py
executable file
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motorBoardMD49.py
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from machine import UART
from utime import sleep_ms
from struct import pack, unpack
class MotorBoardMD49 :
# ============================================================================
# ===( Constants )============================================================
# ============================================================================
# READ COMMANDS,
GET_SPEED_1 = b'\x21'
GET_SPEED_2 = b'\x22'
GET_ENCODER_1 = b'\x23'
GET_ENCODER_2 = b'\x24'
GET_ENCODERS = b'\x25'
GET_VOLTS = b'\x26'
GET_CURRENT_1 = b'\x27'
GET_CURRENT_2 = b'\x28'
GET_VERSION = b'\x29'
GET_ACCELERATION = b'\x2A'
GET_MODE = b'\x2B'
GET_VI = b'\x2C'
GET_ERROR = b'\x2D'
# WRITE COMMANDS,
SET_SPEED_1 = b'\x31'
SET_SPEED_2_TURN = b'\x32'
SET_ACCELERATION = b'\x33'
SET_MODE = b'\x34'
RESET_ENCODERS = b'\x35'
DISABLE_REGULATOR = b'\x36'
ENABLE_REGULATOR = b'\x37'
DISABLE_TIMEOUT = b'\x38'
ENABLE_TIMEOUT = b'\x39'
# ============================================================================
# ===( Constructor )==========================================================
# ============================================================================
def __init__(self, uartBus, txPinNum, rxPinNum) :
txPinId = "P" + str(txPinNum)
rxPinId = "P" + str(rxPinNum)
self._uart = UART( uartBus,
baudrate = 38400,
bits = 8,
parity = None,
stop = 1,
pins = (txPinId, rxPinId, None, None) )
self._mode = 0
# ============================================================================
# ===( Utils )================================================================
# ============================================================================
def _txCmd(self, cmdByte, valueByte=None) :
if cmdByte is not None and len(cmdByte) == 1 and \
( valueByte is None or len(valueByte) == 1 ) :
if valueByte is not None :
buf = b'\x00' + cmdByte + valueByte
else :
buf = b'\x00' + cmdByte
for i in range(100) :
res = self._uart.write(buf)
if res is not None and res == len(buf) :
return True
sleep_ms(10)
return False
# ----------------------------------------------------------------------------
def _rxRet(self, retSize) :
ret = b''
ok = False
for i in range(100) :
buf = self._uart.readall()
if buf is not None :
ret += buf
if len(ret) == retSize :
ok = True
break
sleep_ms(10)
return ret if ok else None
# ----------------------------------------------------------------------------
def bitIsUpInByte(self, bitPos, byte) :
if bitPos >= 1 and bitPos <= 8 :
return ( byte[0] & pack('B', 0 | 1 << 8-bitPos)[0] ) > 0
return byte
# ============================================================================
# ===( Functions )============================================================
# ============================================================================
def GetSpeed1(self) :
if self._txCmd(MotorBoardMD49.GET_SPEED_1) :
ret = self._rxRet(1)
if ret is not None :
fmt = 'B' if self._mode == 0 or self._mode == 2 else 'b'
return unpack(fmt, ret)[0]
return None
# ----------------------------------------------------------------------------
def GetSpeed2(self) :
if self._txCmd(MotorBoardMD49.GET_SPEED_2) :
ret = self._rxRet(1)
if ret is not None :
fmt = 'B' if self._mode == 0 or self._mode == 2 else 'b'
return unpack(fmt, ret)[0]
return None
# ----------------------------------------------------------------------------
def GetEncoder1(self) :
if self._txCmd(MotorBoardMD49.GET_ENCODER_1) :
ret = self._rxRet(4)
if ret is not None :
return unpack('>i', ret)[0]
return None
# ----------------------------------------------------------------------------
def GetEncoder2(self) :
if self._txCmd(MotorBoardMD49.GET_ENCODER_2) :
ret = self._rxRet(4)
if ret is not None :
return unpack('>i', ret)[0]
return None
# ----------------------------------------------------------------------------
def GetEncoders(self) :
if self._txCmd(MotorBoardMD49.GET_ENCODERS) :
ret = self._rxRet(8)
if ret is not None :
return unpack('>ii', ret)
return None
# ----------------------------------------------------------------------------
def GetVolts(self) :
if self._txCmd(MotorBoardMD49.GET_VOLTS) :
ret = self._rxRet(1)
if ret is not None :
return unpack('B', ret)[0]
return None
# ----------------------------------------------------------------------------
def GetCurrent1(self) :
if self._txCmd(MotorBoardMD49.GET_CURRENT_1) :
ret = self._rxRet(1)
if ret is not None :
return unpack('B', ret)[0] / 10
return None
# ----------------------------------------------------------------------------
def GetCurrent2(self) :
if self._txCmd(MotorBoardMD49.GET_CURRENT_2) :
ret = self._rxRet(1)
if ret is not None :
return unpack('B', ret)[0]
return None
# ----------------------------------------------------------------------------
def GetVersion(self) :
if self._txCmd(MotorBoardMD49.GET_VERSION) :
ret = self._rxRet(1)
if ret is not None :
return unpack('B', ret)[0]
return None
# ----------------------------------------------------------------------------
def GetAcceleration(self) :
if self._txCmd(MotorBoardMD49.GET_ACCELERATION) :
ret = self._rxRet(1)
if ret is not None :
return unpack('B', ret)[0]
return None
# ----------------------------------------------------------------------------
def GetMode(self) :
if self._txCmd(MotorBoardMD49.GET_MODE) :
ret = self._rxRet(1)
if ret is not None :
return unpack('B', ret)[0]
return None
# ----------------------------------------------------------------------------
def GetVI(self) :
if self._txCmd(MotorBoardMD49.GET_VI) :
ret = self._rxRet(3)
if ret is not None :
return unpack('BBB', ret)
return None
# ----------------------------------------------------------------------------
def GetError(self) :
if self._txCmd(MotorBoardMD49.GET_ERROR) :
ret = self._rxRet(1)
if ret is not None :
return {
"MOTOR_1_TRIP" : self.bitIsUpInByte(6, ret),
"MOTOR_2_TRIP" : self.bitIsUpInByte(5, ret),
"MOTOR_1_SHORT" : self.bitIsUpInByte(4, ret),
"MOTOR_2_SHORT" : self.bitIsUpInByte(3, ret),
"OVER_30V" : self.bitIsUpInByte(2, ret),
"UNDER_16V" : self.bitIsUpInByte(1, ret)
}
return None
# ----------------------------------------------------------------------------
def SetSpeed1(self, value) :
if self._mode == 0 or self._mode == 2 :
fmt = 'B'
if value < 0 or value > 255 :
return False
else :
fmt = 'b'
if value < -128 or value > 127 :
return False
return self._txCmd(MotorBoardMD49.SET_SPEED_1, pack(fmt, value))
# ----------------------------------------------------------------------------
def SetSpeed2Turn(self, value) :
if self._mode == 0 or self._mode == 2 :
fmt = 'B'
if value < 0 or value > 255 :
return False
else :
fmt = 'b'
if value < -128 or value > 127 :
return False
return self._txCmd(MotorBoardMD49.SET_SPEED_2_TURN, pack(fmt, value))
# ----------------------------------------------------------------------------
def SetAcceleration(self, value) :
if value >= 1 and value <= 10 :
return self._txCmd(MotorBoardMD49.SET_ACCELERATION, pack('B', value))
return False
# ----------------------------------------------------------------------------
def SetMode(self, mode) :
if mode >= 0 and mode <= 3 :
if self._txCmd(MotorBoardMD49.SET_MODE, pack('B', mode)) :
self._mode = mode
return True
return False
# ----------------------------------------------------------------------------
def ResetEncoders(self) :
return self._txCmd(MotorBoardMD49.RESET_ENCODERS)
# ----------------------------------------------------------------------------
def DisableRegulator(self) :
return self._txCmd(MotorBoardMD49.DISABLE_REGULATOR)
# ----------------------------------------------------------------------------
def EnableRegulator(self) :
return self._txCmd(MotorBoardMD49.ENABLE_REGULATOR)
# ----------------------------------------------------------------------------
def DisableTimeout(self) :
return self._txCmd(MotorBoardMD49.DISABLE_TIMEOUT)
# ----------------------------------------------------------------------------
def EnableTimeout(self) :
return self._txCmd(MotorBoardMD49.ENABLE_TIMEOUT)
# ============================================================================
# ============================================================================
# ============================================================================