def _update_motors(self,
left_val,
right_val,
left_rev,
right_rev,
pwm_period=20000):
period = tools.int_to_uint32(pwm_period)
left_pwm = tools.int_to_uint16(left_val)
right_pwm = tools.int_to_uint16(right_val)
self.ubit._io_pin_pwm.value = [
0, left_pwm[0], left_pwm[1], period[0], period[1], period[2],
period[3], 1, right_pwm[0], right_pwm[1], period[0], period[1],
period[2], period[3]
]
self.ubit._pin_states = [0x08, left_rev, 0x0C, right_rev]
def _update_motors(self,
left_val,
right_val,
left_rev,
right_rev,
pwm_period=20000):
period = tools.int_to_uint32(pwm_period)
left_pwm = tools.int_to_uint16(left_val)
right_pwm = tools.int_to_uint16(right_val)
self.pin_pwm_iface.WriteValue([
0, left_pwm[0], left_pwm[1], period[0], period[1], period[2],
period[3], 1, right_pwm[0], right_pwm[1], period[0], period[1],
period[2], period[3]
], ())
self._pin_states([0x08, left_rev, 0x0C, right_rev])
def scroll_delay(self, delay=None):
"""
Specifies a millisecond delay to wait for in between showing each
character on the display.
"""
if delay < 0:
delay = 0
elif delay > 2**16:
delay = 2**16
self._led_scroll.value = tools.int_to_uint16(delay)
def scroll_delay(self, delay=None):
"""
Specifies a millisecond delay to wait for in between showing each
character on the display.
"""
if delay < 0:
delay = 0
elif delay > 2**16:
delay = 2**16
self._led_scroll.value = tools.int_to_uint16(delay)
def _update_motors(self, left_val, right_val,
left_rev, right_rev,
pwm_period=20000):
period = tools.int_to_uint32(pwm_period)
left_pwm = tools.int_to_uint16(left_val)
right_pwm = tools.int_to_uint16(right_val)
self.ubit._io_pin_pwm.value = [0,
left_pwm[0],
left_pwm[1],
period[0],
period[1],
period[2],
period[3],
1,
right_pwm[0],
right_pwm[1],
period[0],
period[1],
period[2],
period[3]
]
self.ubit._pin_states = [0x08, left_rev, 0x0C, right_rev]
def _pin_pwm_control(self, pin, value, period):
"""
Write only method to set the PWM control data
:param pin: pin number [range 0-19]
:param value: Value is in the range 0 to 1024, per the current DAL API
(e.g. setAnalogValue). 0 means OFF.
:param period: Period is in microseconds and is an unsigned integer
:return:
"""
byte_value = tools.int_to_uint16(value)
byte_period = tools.int_to_uint32(period)
self.pin_pwm_iface.WriteValue([
pin, byte_value[0], byte_value[1], byte_period[0], byte_period[1],
byte_period[2], byte_period[3]
], ())
def display_scroll_delay(self, delay=None):
"""
Specifies a millisecond delay to wait for in between showing each
character on the display.
"""
if delay is None:
return int.from_bytes(self.scroll_iface.ReadValue(()),
byteorder='little',
signed=False)
else:
if delay < 0:
delay = 0
elif delay > 2**16:
delay = 2**16
self.scroll_iface.WriteValue(tools.int_to_uint16(delay), ())
def _pin_pwm_control(self, pin, value, period):
"""
Write only method to set the PWM control data
:param pin: pin number [range 0-19]
:param value: Value is in the range 0 to 1024, per the current DAL API
(e.g. setAnalogValue). 0 means OFF.
:param period: Period is in microseconds and is an unsigned integer
:return:
"""
pin_pwm_obj = tools.get_dbus_obj(constants.BLUEZ_SERVICE_NAME,
self.io_pin_pwm_path)
pin_pwm_iface = tools.get_dbus_iface(constants.GATT_CHRC_IFACE,
pin_pwm_obj)
byte_value = tools.int_to_uint16(value)
byte_period = tools.int_to_uint32(period)
pin_pwm_iface.WriteValue([
pin, byte_value[0], byte_value[1], byte_period[0], byte_period[1],
byte_period[2], byte_period[3]
], ())
def display_scroll_delay(self, delay=None):
"""
Specifies a millisecond delay to wait for in between showing each
character on the display.
"""
scroll_obj = tools.get_dbus_obj(constants.BLUEZ_SERVICE_NAME,
self.led_scroll_path)
scroll_iface = tools.get_dbus_iface(constants.GATT_CHRC_IFACE,
scroll_obj)
if delay is None:
return int.from_bytes(scroll_iface.ReadValue(()),
byteorder='little',
signed=False)
else:
if delay < 0:
delay = 0
elif delay > 2**16:
delay = 2**16
scroll_iface.WriteValue(tools.int_to_uint16(delay), ())
def _pin_pwm_control(self, data):
"""
Write only method to set the PWM control data
:param pin: pin number [range 0-19]
:param value: Value is in the range 0 to 1024, per the current DAL API
(e.g. setAnalogValue). 0 means OFF.
:param period: Period is in microseconds and is an unsigned integer
:return:
"""
pin = data[0]
value = data[1]
period = data[2]
byte_value = tools.int_to_uint16(value)
byte_period = tools.int_to_uint32(period)
self._io_pin_pwm.value = [pin,
byte_value[0],
byte_value[1],
byte_period[0],
byte_period[1],
byte_period[2],
byte_period[3]
]
