class sensorUnit():
def __init__(self):
self.__bus=SPI(3,1)
self.__bus.msh=20000
def getLeftDistance(self):
self.__bus.writebytes([0x0C])
return self.__bus.readbytes(1)[0]
def getRightDistance(self):
self.__bus.writebytes([0x0B])
return self.__bus.readbytes(1)[0]
def getLineSensor(self,temp):
if temp<0 or temp>10:
raise SyntaxError("Linesensor value out of bounds")
self.__bus.writebytes([temp])
return self.__bus.readbytes(1)[0]
def getLeftMiddleSensor(self):
self.__bus.writebytes([14])
return self.__bus.readbytes(1)[0]
def getRightMiddleSensor(self):
self.__bus.writebytes([15])
return self.__bus.readbytes(1)[0]
class driveUnit():
def __init__(self):
self.__bus=SPI(3,0)
self.__bus.msh=20000
#def testReceive(self):
# self.__bus.writebytes([0x50])
# print self.__bus.readbytes(1)
def setMotorLeft(self,speed):
speed = int(speed)
if speed >= 0:
direction = 1
else:
direction = 0
self.send_startbit()
#längd
self.__bus.writebytes([0x03])
#kommandot
self.__bus.writebytes([0x11])
self.__bus.writebytes([direction])
self.__bus.writebytes([abs(speed)])
def setMotorRight(self,speed):
speed = int(speed)
if speed >= 0:
direction = 1
else:
direction = 0
self.send_startbit()
#length
self.__bus.writebytes([0x03])
#kommandot
self.__bus.writebytes([0x10])
self.__bus.writebytes([direction])
self.__bus.writebytes([abs(speed)])
def setArmAxis(self, id, value):
self.send_startbit()
#length
self.__bus.writebytes([0x03])
#commando
self.__bus.writebytes([16+(id+1)])
self.__bus.writebytes([value >> 8, 0x00FF & value])
def sendAxis(self,id):
self.send_startbit()
self.__bus.writebytes([0x01])
self.__bus.writebytes([48+(id+1)])
def sendAllAxis(self):
self.send_startbit()
self.__bus.writebytes([0x01])
self.__bus.writebytes([0x3E])
def sendAllMotor(self):
self.send_startbit()
#längd
self.__bus.writebytes([0x01])
#action
self.__bus.writebytes([0x3D])
def sendMotorRight(self):
self.send_startbit()
self.__bus.writebytes([0x01])
self.__bus.writebytes([0x30])
def sendMotorLeft(self):
self.send_startbit()
self.__bus.writebytes([0x01])
self.__bus.writebytes([0x31])
def send_startbit(self):
self.__bus.writebytes([0xFF])
self.__bus.writebytes([0xFF])
#!/usr/bin/env python from spi import SPI spi2_1 = SPI(2, 1) spi2_1.bpw = 8 spi2_1.mode = 0 spi2_1.writebytes([0x30])
#!/usr/bin/env python from spi import SPI # Set up the SPI dac = SPI(2, 0) dac.mode = 1 # SPI mode 1 dac.bpw = 8 # 8 bits pr word dac.lsbfirst = False # MSB transfers # Calculate the value for the DAC iChop = 2.0 # Current chopping limit (This is the value you can change) vRef = 3.3 # Voltage reference on the DAC rSense = 0.1 # Resistance for the vOut = iChop*5.0*rSense # Calculated voltage out from the DAC (See page 9 in the datasheet for the DAC) dacval = int((vOut*256.0)/vRef) # Update all channels with the value for addr in range(8): byte1 = ((dacval & 0xF0)>>4) + (addr<<4) byte2 = (dacval & 0x0F)<<4 dac.writebytes([byte1, byte2]) # Update all channels dac.writebytes([0xA0, 0xFF]) print "All channels now have vOut = "+str(vOut)+", iChop = "+str(iChop)
