def i2c_test(self):
try:
i2c = Ah_I2C(0x00)
version = i2c.get_vi2c()
bus = i2c.getPiI2CBusNumber()
return (version, bus)
except:
return ('?', True)
def get(self, adresse):
self.id = adresse
self.i2c = Ah_I2C(adresse)
self.get_versionCode()
time.sleep(0.100)
self.get_infoConfig()
time.sleep(0.100)
self.get_skeletonPosition()
time.sleep(0.100)
self.get_state()
time.sleep(0.100)
self.get_mode()
time.sleep(0.100)
self.get_limitBW()
time.sleep(0.100)
self.get_limitFW()
time.sleep(0.100)
self.get_offset()
time.sleep(0.100)
self.get_deadBand()
time.sleep(0.100)
self.get_kpPunch()
time.sleep(0.100)
self.get_kdDumping()
time.sleep(0.100)
self.get_kiStretch()
time.sleep(0.100)
self.get_currentMaxSet()
time.sleep(0.100)
self.get_protectionGoSet()
time.sleep(0.100)
self.get_temperatureMaxSet()
time.sleep(0.100)
self.get_positionCurrent()
time.sleep(0.100)
self.get_speedCurrent()
time.sleep(0.100)
self.get_currentCurrent()
time.sleep(0.100)
self.get_temperatureCurrent()
time.sleep(0.100)
self.get_protectionCurrent()
time.sleep(0.100)
self.get_portD()
time.sleep(0.100)
self.get_pinA2()
time.sleep(0.100)
self.get_pinA3()
time.sleep(0.100)
self.get_contactBWFW()
def __init__(self, adresse):
self.i2c = Ah_I2C(adresse)
self.vi2c = self.i2c.get_vi2c()
self.id_ref = {"type": int(), "size": 2, "min": 3, "max": 119}
self.id = adresse
self.versionCode_ref = {
"read": 0x2B,
"write": 0x3B,
"type": float(),
"size": 4,
"step": 0.01
}
self.versionCode = 0
self.infoConfig_ref = {
"read": 0x2C,
"write": 0x3C,
"type": bytearray(),
"size": 15
}
self.infoConfig = "A Saisir"
self.skeletonPosition_ref = {
"read": 0x2D,
"write": 0x3D,
"type": bytearray(),
"size": 4
}
self.skeletonPosition = "???"
self.state_ref = {"read": 0x2F, "type": bytes(), "size": 1}
self.state_list = {0x00: "Initialisation"}
self.state_list[0x01] = "Prêt"
self.state_list[0x10] = "Erreur suite blocage arbre"
self.state_list[0x11] = "Erreur > seuil Courant"
self.state_list[0x12] = "Erreur > seuil Température"
self.state_list[0x20] = "Errreur carte MC"
self.state_list[0x30] = "Arrêt suite contact FW"
self.state_list[0x35] = "Arrêt suite contact BW"
self.state = 0x00
self.mode_ref = {
"read": 0x2E,
"write": 0x3E,
"type": bytes(),
"size": 1,
"min": 0,
"max": 3
}
self.mode_list = {0: "Mode Interactif"}
self.mode_list[1] = "Mode roue libre"
self.mode_list[2] = "Mode PID Position"
self.mode_list[3] = "Mode PID Vitesse"
self.mode = 0
self.limitBW_ref = {
"read": 0x20,
"write": 0x30,
"type": int(),
"size": 2,
"min": 350,
"max": 750,
"step": 1
}
self.limitBW = self.limitBW_ref["min"]
self.limitFW_ref = {
"read": 0x21,
"write": 0x31,
"type": int(),
"size": 2,
"min": 750,
"max": 1150,
"step": 1
}
self.limitFW = self.limitFW_ref["max"]
self.offset_ref = {
"read": 0x22,
"write": 0x32,
"type": bytes(),
"size": 1,
"min": -127,
"max": +127,
"step": 1
}
self.offset = 0
self.deadBand_ref = {
"read": 0x23,
"write": 0x33,
"type": int(),
"size": 2,
"min": 0,
"max": 400,
"step": 1
}
self.deadBand = self.deadBand_ref["min"]
self.kpPunch_ref = {
"read": 0x24,
"write": 0x34,
"type": float(),
"size": 4,
"min": 0,
"max": 655.35,
"step": 0.01
}
self.kpPunch = self.kpPunch_ref["min"]
self.kdDumping_ref = {
"read": 0x25,
"write": 0x35,
"type": float(),
"size": 4,
"min": 0,
"max": 655.35,
"step": 0.01
}
self.kdDumping = self.kdDumping_ref["min"]
self.kiStretch_ref = {
"read": 0x26,
"write": 0x36,
"type": float(),
"size": 4,
"min": 0,
"max": 655.35,
"step": 0.01
}
self.kiStretch = self.kiStretch_ref["min"]
self.currentMaxSet_ref = {
"read": 0x28,
"write": 0x38,
"type": bytes(),
"size": 1,
"min": 1,
"max": 50,
"step": 1
}
self.currentMaxSet = 4.0
self.protectionGoSet_ref = {
"read": 0x29,
"write": 0x39,
"type": bytes(),
"size": 1,
"min": 10,
"max": 255,
"step": 1
}
self.protectionGoSet = 20
self.temperatureMaxSet_ref = {
"read": 0x2A,
"write": 0x3A,
"type": bytes(),
"size": 1,
"min": 1,
"max": 255,
"step": 1
}
self.temperatureMaxSet = 102
self.positionCurrent_ref = {
"read": 0x40,
"write": 0x50,
"type": int(),
"size": 2,
"min": self.limitBW,
"max": self.limitFW,
"step": 1
}
self.positionCurrent = 750
self.speedCurrent_ref = {
"read": 0x41,
"write": 0x51,
"type": bytes(),
"size": 1,
"min": 0,
"max": 255,
"step": 1
}
self.speedCurrent = 0
self.currentCurrent_ref = {"read": 0x42, "type": bytes(), "size": 1}
self.currentCurrent = 0
self.temperatureCurrent_ref = {
"read": 0x43,
"type": float(),
"size": 4
}
self.temperatureCurrent = 0.0
self.protectionCurrent_ref = {"read": 0x44, "type": bytes(), "size": 1}
self.protectionCurrent = 0
self.portD_ref = {"read": 0x45, "type": bytes(), "size": 1}
self.portD = 0x00
self.pinA2_ref = {"read": 0x46, "type": int(), "size": 2}
self.pinA2 = 0
self.pinA3_ref = {"read": 0x47, "type": int(), "size": 2}
self.pinA3 = 0
self.contactBWFW_ref = {"read": 0x48, "type": bytes(), "size": 1}
self.contactBWFW = 0