def read(self):
Memory.set_bit(self.base_addr, Accelerometer.CTRL_REG, Accelerometer.READ_BIT, True)
while not Memory.read_bit(self.base_addr, Accelerometer.CTRL_REG, Accelerometer.READ_BIT):
time.sleep(0.000001) # Wait for a microsecond
read_regs = [ Accelerometer.X_REG, Accelerometer.Y_REG, Accelerometer.Z_REG ]
accel_vals = Memory.read_bulk(self.base_addr, read_regs)
Memory.set_bit(self.base_addr, Accelerometer.CTRL_REG, Accelerometer.READ_BIT, False)
return accel_vals
def ctrl_handler(data):
_id, val = data
if _id == 'KILLSWITCH':
print('KILLSWITCH TRIGGERED')
Memory.write_to_mem(ADDR_KILLSWITCH, 0, 0x0)
if _id == 'ROT':
ball_x, ball_y = val
Memory.write_to_mem(ADDR_CAM, 0, ball_x)
Memory.write_to_mem(ADDR_CAM, 4, ball_y)
def read(self):
Memory.set_bit(self.base_addr, Gyroscope.CTRL_REG, Gyroscope.READ_BIT,
True)
while not Memory.read_bit(self.base_addr, Gyroscope.CTRL_REG,
Gyroscope.READ_BIT):
time.sleep(0.000001) # Wait for a microsecond
read_regs = [Gyroscope.X_REG, Gyroscope.Y_REG, Gyroscope.Z_REG]
gyro_vals = Memory.read_bulk(self.base_addr, read_regs)
Memory.set_bit(self.base_addr, Gyroscope.CTRL_REG, Gyroscope.READ_BIT,
False)
return gyro_vals
def set_on(self):
Memory.set_bit(self.base_addr, self.register, self.bit, True)
def set_off(self):
Memory.set_bit(self.base_addr, self.register, self.bit, False)
def set_duty_cycle(self, value):
self.__validate_duty_cycle(value)
Memory.write_to_mem(self.base_addr, PWM.DUTY_CYCLE_REG, value)
def set_period(self, value):
self.__validate_period(value)
Memory.write_to_mem(self.base_addr, PWM.PERIOD_REG, value)
def get_pwm4_status():
duty_cycle = Memory.read_from_mem(ADDR_PWM4, PWMStreams.REG_DUTY_CYCLE)
return int(duty_cycle)