def checkmotor():
try:
id = c2py.readworddata(ADDRESS, MOTOR_GET0, 1)
except c2py.I2CError:
return False
return True
def getword(address, cmd):
while True:
try:
val = c2py.readworddata(address, cmd, 1)
break
except c2py.I2CError:
pass
return val
def __get__(channel):
if channel not in [0, 1]:
raise ValueError, "Incorrect channel read"
cmd = (MOTOR_GET0, MOTOR_GET1)[channel]
try:
n = c2py.readworddata(ADDRESS, cmd, 1)
except:
return 0 # Should do something more sensible here!
speed = n & 0x1FF
dir = n >> 9
if (dir == OFF or dir == BRAKE):
return 0
elif dir == FORWARD:
return speed / 3.28
elif dir == BACKWARD:
return -1 * speed / 3.28
def __set__(channel, speed):
speed = float(speed)
if speed > 100:
speed = 100
elif speed < -100:
speed = -100
if channel not in [0, 1]:
raise ValueError, "Incorrect channel set"
if speed > 0:
dir = FORWARD
else:
dir = BACKWARD
speed = abs(int(speed * 3.28))
v = speed | (dir << 9) | (channel << 11)
while True:
try:
c2py.writeworddata(ADDRESS, MOTOR_CMD_CONF, v, 1)
except:
continue
cmd = (MOTOR_GET0, MOTOR_GET1)[channel]
try:
n = c2py.readworddata(ADDRESS, cmd, 1)
except:
continue
if (n & 0x1FF) == speed and (n >> 9) == dir:
break
def __set__( channel, speed ):
speed = float(speed)
if speed > 100:
speed = 100
elif speed < -100:
speed = -100
if channel not in [0,1]:
raise ValueError, "Incorrect channel set"
if speed > 0:
dir = FORWARD
else:
dir = BACKWARD
speed = abs(int(speed * 3.28))
v = speed | (dir << 9) | (channel<<11)
count = 0
while count < MAXERR:
c2py.writeworddata( ADDRESS, MOTOR_CMD_CONF, v, 1 )
cmd = (MOTOR_GET0, MOTOR_GET1)[channel]
n = c2py.readworddata( ADDRESS, cmd, 1)
if (n & 0x1FF) == speed and (n >> 9) == dir:
break
count = count + 1
if count == MAXERR:
raise c2py.I2CError
def getfirmware():
return c2py.readworddata(ADDRESS, CMD_GET_FIRMWARE, 1)
