def get_motor_duty(motnum):
return trik_protocol.read_reg(motnum, mdut)
def get_motor_control(motnum):
return trik_protocol.read_reg(motnum, mctl)
def get_timer_value():
return trik_protocol.read_reg(timer1, atval)
def get_motor_period(motnum):
return trik_protocol.read_reg(motnum, mper)
def read_encoder(encnum):
return trik_protocol.read_reg(encnum, eval)
def read_i2c_sensor(i2cnum):
trik_protocol.write_reg(i2cnum, ictl, i2c_enable + i2c_pull + i2c_sens)
return trik_protocol.read_reg(i2cnum, ival)
def get_pwm_period(pwmnum):
return trik_protocol.read_reg(pwmnum, pper)
def get_motor_overcurrent(motnum):
return trik_protocol.read_reg(motnum, merr)
def get_sensor_control(sensnum):
return trik_protocol.read_reg(sensnum, sctl)
def get_sensor_type(sensnum):
return trik_protocol.read_reg(sensnum, sidx)
def read_sensor(sensnum):
return trik_protocol.read_reg(sensnum, sval)
def get_i2_sensor_type(i2cnum):
return trik_protocol.read_reg(i2cnum, iidx)
def get_i2c_control(i2cnum):
return trik_protocol.read_reg(i2cnum, ictl)
def get_motor_angle(motnum):
return trik_protocol.read_reg(motnum, mang)
def get_pwm_duty(pwmnum):
return trik_protocol.read_reg(pwmnum, pdut)
def get_motor_time(motnum):
return trik_protocol.read_reg(motnum, mtmr)
def get_pwm_control(pwmnum):
return trik_protocol.read_reg(pwmnum, pctl)
def get_motor_feedback(motnum):
return trik_protocol.read_reg(motnum, mval)
def get_timer_control():
return trik_protocol.read_reg(timer1, atctl)
def get_encoder_control(encnum):
return trik_protocol.read_reg(encnum, ectl)
def read_i2c(i2cnum, i2cdev, i2creg):
trik_protocol.write_reg(i2cnum, idev, i2cdev)
trik_protocol.write_reg(i2cnum, ireg, i2creg)
trik_protocol.write_reg(i2cnum, idat, 0x00)
trik_protocol.write_reg(i2cnum, ictl, i2c_enable + i2c_pull + i2c_read)
return trik_protocol.read_reg(i2cnum, idat)