def GET_BAT():
i2c.SETSLAVE(SLAVE_ADDRESS)
bat = {}
bat["CELL1"] = {}
bat["CELL1"]["VOLT"] = (i2c.READ(I2C_CELL1VOLTh) * 128 +
i2c.READ(I2C_CELL1VOLTl)) / 1000
bat["CELL1"]["PERCENTAGE"] = i2c.READ(I2C_CELL1PERC)
bat["CELL2"] = {}
bat["CELL2"]["VOLT"] = (i2c.READ(I2C_CELL2VOLTh) * 128 +
i2c.READ(I2C_CELL2VOLTl)) / 1000
bat["CELL2"]["PERCENTAGE"] = i2c.READ(I2C_CELL2PERC)
bat["CELL3"] = {}
bat["CELL3"]["VOLT"] = (i2c.READ(I2C_CELL3VOLTh) * 128 +
i2c.READ(I2C_CELL3VOLTl)) / 1000
bat["CELL3"]["PERCENTAGE"] = i2c.READ(I2C_CELL3PERC)
bat["CELL4"] = {}
bat["CELL4"]["VOLT"] = (i2c.READ(I2C_CELL4VOLTh) * 128 +
i2c.READ(I2C_CELL4VOLTl)) / 1000
bat["CELL4"]["PERCENTAGE"] = i2c.READ(I2C_CELL4PERC)
return bat
def GET_STATUS():
i2c.SETSLAVE(SLAVE_ADDRESS)
status = {}
#status["angle"] = int(i2c.READ(I2C_ANGLE))-100
#status["FLpower"] = int(i2c.READ(I2C_FLpower))-100
#status["FLspeed"] = int(i2c.READ(I2C_FLspeed))-100
#status["FLspdmeas"] = int(i2c.READ(I2C_FLspdmeas))-100
#status["FRpower"] = int(i2c.READ(I2C_FRpower))-100
#status["FRspeed"] = int(i2c.READ(I2C_FRspeed))-100
#status["FRspdmeas"] = int(i2c.READ(I2C_FRspdmeas))-100
#status["BLpower"] = int(i2c.READ(I2C_BLpower))-100
#status["BLspeed"] = int(i2c.READ(I2C_BLspeed))-100
#status["BLspdmeas"] = int(i2c.READ(I2C_BLspdmeas))-100
#status["BRpower"] = int(i2c.READ(I2C_BRpower))-100
#status["BRspeed"] = int(i2c.READ(I2C_BRspeed))-100
#status["BRspdmeas"] = int(i2c.READ(I2C_BRspdmeas))-100
#MoveMode = int(i2c.READ(I2C_MoveMode))
#if MoveMode == MoveMode_Speed:
# status["MoveMode"] = "Speed"
#elif MoveMode == MoveMode_Torque:
# status["MoveMode"] = "Torque"
return status
def GET_STATUS():
i2c.SETSLAVE(SLAVE_ADDRESS)
status = {}
status["FET1power"] = int(i2c.READ(I2C_FET1power)) - 100
status["FET1speed"] = int(i2c.READ(I2C_FET1speed))
status["FET1spdmeas"] = int(i2c.READ(I2C_FET1spdmeas)) - 100
status["FET2power"] = int(i2c.READ(I2C_FET2power)) - 100
status["FET2speed"] = int(i2c.READ(I2C_FET2speed))
status["FET2spdmeas"] = int(i2c.READ(I2C_FET2spdmeas)) - 100
status["FET3power"] = int(i2c.READ(I2C_FET3power)) - 100
status["FET3speed"] = int(i2c.READ(I2C_FET3speed))
status["FET3spdmeas"] = int(i2c.READ(I2C_FET3spdmeas)) - 100
status["FET4power"] = int(i2c.READ(I2C_FET4power)) - 100
status["FET4speed"] = int(i2c.READ(I2C_FET4speed))
status["FET4spdmeas"] = int(i2c.READ(I2C_FET4spdmeas)) - 100
status["Apower"] = int(i2c.READ(I2C_Apower)) - 100
status["Aspeed"] = int(i2c.READ(I2C_Aspeed)) - 100
status["Aspdmeas"] = int(i2c.READ(I2C_Aspdmeas)) - 100
status["Bpower"] = int(i2c.READ(I2C_Bpower)) - 100
status["Bspeed"] = int(i2c.READ(I2C_Bspeed)) - 100
status["Bspdmeas"] = int(i2c.READ(I2C_Bspdmeas)) - 100
return status
def SET_FET4(speed):
i2c.SETSLAVE(SLAVE_ADDRESS)
i2c.WRITECMDWAIT(CMD_FET4SPD, speed)
def STOP():
i2c.SETSLAVE(SLAVE_ADDRESS)
i2c.WRITECMDWAIT(CMD_STOP)
def SET_MOTORS(left, right):
i2c.SETSLAVE(SLAVE_ADDRESS)
i2c.WRITECMDWAIT(CMD_MOTORL, left + 100)
i2c.WRITECMDWAIT(CMD_MOTORR, right + 100)
def SET_SPEED(speed):
i2c.SETSLAVE(SLAVE_ADDRESS)
i2c.WRITECMDWAIT(CMD_USERSPEED, speed + 100)
def SET_ANGLE(angle):
i2c.SETSLAVE(SLAVE_ADDRESS)
i2c.WRITECMDWAIT(CMD_USERANGLE, angle + 100)
def MOVEMODE(movemode):
i2c.SETSLAVE(SLAVE_ADDRESS)
i2c.WRITECMDWAIT(CMD_MOVEMODE, movemode)