def resetEncoders(self):
control_val = mark1Rpi.directRead(self.encoder_control_address, 2)
control_val[0] = control_val[0] | 0x03
mark1Rpi.directWrite(self.encoder_control_address,
control_val) # going high
control_val[0] = control_val[0] & 0xFC
mark1Rpi.directWrite(self.encoder_control_address,
control_val) # going low
def setColorLut(self, lut_file): f = open(lut_file, "rb") values_tuple = () tuple_size = 0 try: byte = f.read(1) while byte != "": values_tuple = values_tuple + byte values_tuple = values_tuple + 0x00 tuple_size = tuple_size + 2 byte = f.read(1) mark1Rpi.directWrite(self.classifier_lut_base_address, values_tuple, tuple_size); finally: f.close()
def setColorLut(self, lut_file): f = open(lut_file, "rb") values_tuple = () tuple_size = 0 try: byte = f.read(1) while byte != "": values_tuple = values_tuple + byte values_tuple = values_tuple + 0x00 tuple_size = tuple_size + 2 byte = f.read(1) mark1Rpi.directWrite(self.classifier_lut_base_address, values_tuple, tuple_size); finally: f.close()
def setColorLut(self, lut_file):
f = open(lut_file, "rb")
values_tuple = ()
try:
byte = f.read(1)
while byte != "":
#print byte
unpacked_val = struct.unpack('B',byte)
values_tuple = values_tuple + unpacked_val
#values_tuple = values_tuple + unpacked_val
byte = f.read(1)
#print values_tuple
print 'sending : ', str(len(values_tuple)), 'in the color lut'
#print hex(values_tuple[0]),hex(values_tuple[1]),hex(values_tuple[2])
mark1Rpi.directWrite(self.classifier_lut_base_address, values_tuple);
print 'done !\n'
finally:
f.close()
def setColorLut(self, lut_file):
f = open(lut_file, "rb")
values_tuple = ()
try:
byte = f.read(1)
while byte != "":
#print byte
unpacked_val = struct.unpack('B', byte)
values_tuple = values_tuple + unpacked_val
#values_tuple = values_tuple + unpacked_val
byte = f.read(1)
#print values_tuple
print 'sending : ', str(len(values_tuple)), 'in the color lut'
#print hex(values_tuple[0]),hex(values_tuple[1]),hex(values_tuple[2])
mark1Rpi.directWrite(self.classifier_lut_base_address,
values_tuple)
print 'done !\n'
finally:
f.close()
def enableEncoders(self): control_val = mark1Rpi.directRead(self.encoder_control_address, 2) control_val[0] = control_val[0] | 0x0C mark1Rpi.directWrite(self.encoder_control_address, control_val) # high enable bits
def resetEncoders(self): control_val = mark1Rpi.directRead(self.encoder_control_address, 2) control_val[0] = control_val[0] | 0x03 mark1Rpi.directWrite(self.encoder_control_address, control_val) # going high control_val[0] = control_val[0] & 0xFC mark1Rpi.directWrite(self.encoder_control_address, control_val) # going low
def setLeds(self, val): mark1Rpi.directWrite(self.leds_base_address, (val,0));
def setServoPulse(self, index, pos): mark1Rpi.directWrite(self.servo_base_address[index], (pos,self.servo_failsafe[index]));
def enableEncoders(self):
control_val = mark1Rpi.directRead(self.encoder_control_address, 2)
control_val[0] = control_val[0] | 0x0C
mark1Rpi.directWrite(self.encoder_control_address,
control_val) # high enable bits
def setSpeed(self, speed): byte_speed = int(speed) mark1Rpi.directWrite(self.pid_address, ((byte_speed & 0x00FF),((byte_speed & 0xFF00) >> 8)))
def setLeds(self, val): mark1Rpi.directWrite(self.leds_base_address, (val,0));
def setServoPulse(self, index, pos): mark1Rpi.directWrite(self.servo_base_address[index], (pos,0));
def setP(self, p_coeff):
byte_coef = int(p_coeff * 256)
mark1Rpi.directWrite(
self.pcoef_address((byte_coef & 0x00FF),
((byte_coef & 0xFF00) >> 8)))
def setSpeed(self, speed):
byte_speed = int(speed)
mark1Rpi.directWrite(self.pid_address, ((byte_speed & 0x00FF),
((byte_speed & 0xFF00) >> 8)))
def resetWatchdog(self):
mark1Rpi.directWrite(self.watchdog_address, (0x01, 0x00)) # going high
def disableEncoders(self):
control_val = mark1Rpi.directRead(self.encoder_control_address, 2)
control_val[0] = control_val[0] & 0xF3
mark1Rpi.directWrite(self.encoder_control_address,
control_val) # low enable bits
def disableEncoders(self): control_val = mark1Rpi.directRead(self.encoder_control_address, 2) control_val[0] = control_val[0] & 0xF3 mark1Rpi.directWrite(self.encoder_control_address, control_val) # low enable bits
def resetWatchdog(self): mark1Rpi.directWrite(self.watchdog_address, (0x01, 0x00)) # going high
def setI(self, i_coeff): byte_coef = int(i_coeff*256) mark1Rpi.directWrite(self.icoeff_address, ((byte_coef & 0x00FF),((byte_coef & 0xFF00) >> 8)))
def setP(self, p_coeff): byte_coef = int(p_coeff*256) mark1Rpi.directWrite(self.pcoef_address ((byte_coef & 0x00FF),((byte_coef & 0xFF00) >> 8)))
def setD(self, d_coeff):
byte_coef = int(d_coeff * 256)
mark1Rpi.directWrite(self.dcoeff_address,
((byte_coef & 0x00FF),
((byte_coef & 0xFF00) >> 8)))
def setD(self, d_coeff): byte_coef = int(d_coeff*256) mark1Rpi.directWrite(self.dcoeff_address, ((byte_coef & 0x00FF),((byte_coef & 0xFF00) >> 8)))
def setI(self, i_coeff):
byte_coef = int(i_coeff * 256)
mark1Rpi.directWrite(self.icoeff_address,
((byte_coef & 0x00FF),
((byte_coef & 0xFF00) >> 8)))
