def motor_stop(self):
"""
停止编码电机转动
"""
self.i2c.writeto(self.address, b'\x00\x00')
sleep_ms(10)
def _effect(self, mode):
"""
生效
"""
write_buf = b'\x00' + mode
self.i2c.writeto(self.address, write_buf)
sleep_ms(10)
def humidity(self):
"""
获取湿度
:return: 湿度,单位%
"""
self.i2c.writeto(0x40, b'\xf5')
sleep_ms(25)
t = i2c.readfrom(0x40, 2)
return -6 + 125 * (t[0] * 256 + t[1]) / 65535
def temperature(self):
"""
获取温度
:return: 温度,单位摄氏度
"""
self.i2c.writeto(0x40, b'\xf3')
sleep_ms(70)
t = i2c.readfrom(0x40, 2)
return -46.86 + 175.72 * (t[0] * 256 + t[1]) / 65535
def getLight(self):
"""
获取光线值
:return: 返回光线值,单位lux
"""
self.i2c.writeto(0x23, bytearray([0x10]))
sleep_ms(120)
t = self.i2c.readfrom(0x23, 2)
sleep_ms(10)
return int((t[0] * 256 + t[1]) / 1.2)
def Init(self):
"""
1602初始化函数
"""
self._setRowOffsets(0x00, 0x40, (0x00 + 16), (0x40 + 16))
sleep_ms(50)
self.display(True)
self.Clear()
self._sendCommand(_LCD_ENTRYMODESET | self._displaymode)
self.Cursor(1)
self.Blink(1)
def distance(self):
"""
获取超声波测距
:return: 返回测距,单位cm
"""
self.i2c.writeto(0x0b, bytearray([1]))
sleep_ms(2)
temp = self.i2c.readfrom(0x0b, 2)
distanceCM = (temp[0] + temp[1] * 256) / 10
return distanceCM
def common_measure(self):
"""
获取实验探究类传感器测量值的通用函数
:return int: 返回传感器测量值,单位:电压(V)、电流(A)、磁场(mT)、电导率(uS/cm)、PH(pH)、光电门(s)、气压(kPa)、力传感器(N)
"""
self.i2c.scan()
temp = self.i2c.readfrom(self.address, 2)
data = ustruct.unpack(">h", temp)
sleep_ms(20)
return round(data[0] / 100, 2)
def note(self, note, on_off):
"""
播放音符
:param note: MIDI音符编码
:param on_off: 音符播放或停止
"""
if on_off == 1:
self.uart.write(bytearray([0x90, note, 0x7f]))
elif on_off == 0:
self.uart.write(bytearray([0x80, note, 0x00]))
sleep_ms(5)
def set_position(self, turn1, turn2):
"""
定位模式,可设置编码编码电机定点位置,范围-1023~1023。
:param turn1: 设置M1通道编码电机定位,-1023~1023
:param turn2: 设置M2通道编码电机定位,-1023~1023
"""
if turn1 > 1023 or turn1 < -1023 or turn2 > 1023 or turn2 < -1023:
raise ValueError("Position out of range:0~1023")
write_buf = b'\x10' + ustruct.pack('>ll', turn1, turn2)
self.i2c.writeto(self.address, write_buf)
sleep_ms(10)
self._effect(self.POSITION_MODE)
def set_cruise(self, speed1, speed2):
"""
Cruise巡航模式,设定速度后,当编码电机受阻时,会根据反馈,自动调整扭力,稳定在恒定的速度。
:param speed1: 设置M1通道编码电机速度,范围-1023~1023
:param speed2: 设置M2通道编码电机速度,范围-1023~1023
"""
if speed1 > 1023 or speed1 < -1023 or speed2 > 1023 or speed2 < -1023:
raise ValueError("Speed out of range:-1023~1023")
write_buf = b'\x0a' + ustruct.pack('>HH', speed1, speed2)
self.i2c.writeto(self.address, write_buf)
sleep_ms(10)
self._effect(self.CRUISE_MODE)
def set_pwm(self, speed1, speed2):
"""
pwm模式
:param speed1: 设置M1通道编码电机速度,范围-1023~1023
:param speed2: 设置M2通道编码电机速度,范围-1023~1023
"""
if speed1 > 1023 or speed1 < -1023 or speed2 > 1023 or speed2 < -1023:
raise ValueError("Speed out of range:-1023~1023")
write_buf = b'\x06' + ustruct.pack('>HH', speed1, speed2)
self.i2c.writeto(self.address, write_buf)
sleep_ms(10)
self._effect(self.PWM_MODE)
def _cmdWrite(self, cmd):
sum = 0
for i in range(0, 6):
sum += cmd[i]
sum1 = ((0xFFFF - sum) + 1)
sum_l = sum1 & 0xff
sum_h = sum1 >> 8
self.uart.write(bytearray([0x7E]))
self.uart.write(cmd)
self.uart.write(bytearray([sum_h]))
self.uart.write(bytearray([sum_l]))
self.uart.write(bytearray([0xEF]))
sleep_ms(20)
def _cmdWrite(self, cmd):
sum = 0
len = 0
for i in cmd:
sum += i
len += 1
len += 2
sum += len
sum = sum & 0xff
pakage = [0x7E, len]
pakage += cmd
pakage += ([sum, 0xEF])
self.uart.write(bytearray(pakage))
# print(len)
# print(pakage)
sleep_ms(100)
def __init__(self, tx):
self.uart = UART(1, 31250, tx=tx)
sleep_ms(30)
self.uart.write(bytearray([0xb0, 0x78, 0x00]))
sleep_ms(5)
self.uart.write(bytearray([0xb0, 0x79, 0x7f]))
sleep_ms(15)
self.volume = 100
def getRGB(self):
"""
获取RGB值
:return: 返回RGB三元组,(r,g,b)
"""
color = [0, 0, 0]
self.i2c.writeto(0x0a, bytearray([1]))
sleep_ms(100)
self.i2c.writeto(0x0a, bytearray([2]))
state = self.i2c.readfrom(0x0a, 1)
if state[0] == 3:
self.i2c.writeto(0x0a, bytearray([3]))
c = self.i2c.readfrom(0x0a, 6)
color[0] = c[5] * 256 + c[4] # color R
color[1] = c[1] * 256 + c[0] # color G
color[2] = c[3] * 256 + c[2] # color B
maxColor = max(color[0], color[1], color[2])
if maxColor > 255:
scale = 255 / maxColor
color[0] = int(color[0] * scale)
color[1] = int(color[1] * scale)
color[2] = int(color[2] * scale)
return color
def instrument(self, ins):
self._ins = ins
self.uart.write(bytearray([0xc0, self._ins]))
sleep_ms(10)
def volume(self, vol):
# range 0~127 volume
self._vol = vol
self.uart.write(bytearray([0xb0, 0x07, self._vol]))
sleep_ms(10)
def _sendCharacter(self, c):
character = bytearray([0x02, c])
self.i2c.writeto(24, character)
sleep_ms(1)
def _sendCommand(self, cmd):
command = bytearray([0x01, cmd])
self.i2c.writeto(24, command)
sleep_ms(1)
def Home(self):
"""光标返回屏幕原点"""
self._sendCommand(_LCD_RETURNHOME)
sleep_ms(2)
def Clear(self):
"""清屏"""
self._sendCommand(_LCD_CLEARDISPLAY)
sleep_ms(2)
