def get_motor_duty(motnum): return trik_protocol.read_reg(motnum, mdut)
def get_motor_control(motnum): return trik_protocol.read_reg(motnum, mctl)
def get_timer_value(): return trik_protocol.read_reg(timer1, atval)
def get_motor_period(motnum): return trik_protocol.read_reg(motnum, mper)
def read_encoder(encnum): return trik_protocol.read_reg(encnum, eval)
def read_i2c_sensor(i2cnum): trik_protocol.write_reg(i2cnum, ictl, i2c_enable + i2c_pull + i2c_sens) return trik_protocol.read_reg(i2cnum, ival)
def get_pwm_period(pwmnum): return trik_protocol.read_reg(pwmnum, pper)
def get_motor_overcurrent(motnum): return trik_protocol.read_reg(motnum, merr)
def get_sensor_control(sensnum): return trik_protocol.read_reg(sensnum, sctl)
def get_sensor_type(sensnum): return trik_protocol.read_reg(sensnum, sidx)
def read_sensor(sensnum): return trik_protocol.read_reg(sensnum, sval)
def get_i2_sensor_type(i2cnum): return trik_protocol.read_reg(i2cnum, iidx)
def get_i2c_control(i2cnum): return trik_protocol.read_reg(i2cnum, ictl)
def get_motor_angle(motnum): return trik_protocol.read_reg(motnum, mang)
def get_pwm_duty(pwmnum): return trik_protocol.read_reg(pwmnum, pdut)
def get_motor_time(motnum): return trik_protocol.read_reg(motnum, mtmr)
def get_pwm_control(pwmnum): return trik_protocol.read_reg(pwmnum, pctl)
def get_motor_feedback(motnum): return trik_protocol.read_reg(motnum, mval)
def get_timer_control(): return trik_protocol.read_reg(timer1, atctl)
def get_encoder_control(encnum): return trik_protocol.read_reg(encnum, ectl)
def read_i2c(i2cnum, i2cdev, i2creg): trik_protocol.write_reg(i2cnum, idev, i2cdev) trik_protocol.write_reg(i2cnum, ireg, i2creg) trik_protocol.write_reg(i2cnum, idat, 0x00) trik_protocol.write_reg(i2cnum, ictl, i2c_enable + i2c_pull + i2c_read) return trik_protocol.read_reg(i2cnum, idat)