def __init__(self, addr=0x64):
'''Init object mixer
min_ff_temp: minimum forward flow temperature
max_ff_temp: maximum forward flow temperature
mix_close: closing time of mixer
mix_open: opening time of mixer
mix_pause: wait time to let new temperature settle
ff_temp_target_val: forward flow target temperature
ff_temp_is_val: forward flow is temperature
hyst: temperature hystere
addr: I2C address of motor driver, defaults to 0x64
voltage: motor voltage
'''
threading.Thread.__init__(self)
self.running = False
self.min_ff_temp = 28
self.max_ff_temp = 34
self.mix_time_c = .1
self.mix_time_m = .1
self.mix_time_f = .05
self.mix_pause_c = 5
self.mix_pause_f = 10
self.ff_temp_target_val = 30
self.ff_temp_is_val = 31
self.hyst = .5
self.addr = addr
self.voltage = 3.3
self.mot = DRV8830(self.addr)
self.mix_t_stop = threading.Event()
def test_setup():
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=MockSMBus(1))
del drv8830
def test_setup(i2c_dev):
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=i2c_dev)
del drv8830
def test_clear_fault():
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=MockSMBus(1))
drv8830.clear_fault()
def test_voltage_out_of_range():
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=MockSMBus(1))
drv8830.set_voltage(0)
assert drv8830.get_voltage() == 0
def test_set_voltage():
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=MockSMBus(1))
drv8830.set_voltage(5.06)
assert drv8830.get_voltage() == 5.06
def test_set_outputs():
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=MockSMBus(1))
drv8830.set_outputs(out1=0, out2=0)
def test_brake():
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=MockSMBus(1))
drv8830.brake()
def test_set_outputs(i2c_dev):
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=i2c_dev)
drv8830.set_outputs(out1=0, out2=0)
def test_coast(i2c_dev):
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=i2c_dev)
drv8830.coast()
def test_brake(i2c_dev):
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=i2c_dev)
drv8830.brake()
def test_forward(i2c_dev):
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=i2c_dev)
drv8830.forward()
def test_setup_alt_addr2(i2c_dev):
from drv8830 import DRV8830, I2C_ADDR2
drv8830 = DRV8830(i2c_dev=i2c_dev, i2c_addr=I2C_ADDR2)
del drv8830
def test_setup_alt_addr3(i2c_dev):
from drv8830 import DRV8830, I2C_ADDR3
drv8830 = DRV8830(i2c_dev=i2c_dev)
drv8830.select_i2c_address(I2C_ADDR3)
def test_setup_alt_addr2():
from drv8830 import DRV8830, I2C_ADDR2
drv8830 = DRV8830(i2c_dev=MockSMBus(1), i2c_addr=I2C_ADDR2)
del drv8830
import time from explorerhat import motor from drv8830 import DRV8830, I2C_ADDR1, I2C_ADDR3 v = 4 speed = 70 left = DRV8830(I2C_ADDR1) right = DRV8830(I2C_ADDR3) left.set_voltage(0) right.set_voltage(0) #time.sleep(3) #Set Voltages left.set_voltage(v) right.set_voltage(v) # Move forward left.forward() right.forward() motor.one.forwards(speed) motor.two.forwards(speed) time.sleep(0.5) # Slide to the left left.reverse() right.forward() motor.one.forwards(speed) motor.two.backwards(speed) time.sleep(2)
def test_set_voltage(i2c_dev):
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=i2c_dev)
drv8830.set_voltage(5.06)
assert drv8830.get_voltage() == 5.06
def test_coast():
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=MockSMBus(1))
drv8830.coast()
def test_get_fault(i2c_dev):
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=i2c_dev)
assert drv8830.get_fault().current_limit == 0
def test_forward():
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=MockSMBus(1))
drv8830.forward()
def test_clear_fault(i2c_dev):
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=i2c_dev)
drv8830.clear_fault()
def test_set_voltage_snap():
# Should snap to the nearest available voltage and read back correctly
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=MockSMBus(1))
drv8830.set_voltage(0.82)
assert drv8830.get_voltage() == 0.80
def test_reverse(i2c_dev):
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=i2c_dev)
drv8830.reverse()
def test_get_fault():
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=MockSMBus(1))
assert drv8830.get_fault().current_limit == 0
def test_setup_alt_addr3():
from drv8830 import DRV8830, I2C_ADDR3
drv8830 = DRV8830(i2c_dev=MockSMBus(1))
drv8830.select_i2c_address(I2C_ADDR3)
def test_reverse():
from drv8830 import DRV8830
drv8830 = DRV8830(i2c_dev=MockSMBus(1))
drv8830.reverse()
def __init__(self, **kwargs):
serial_address_index = kwargs.get('serial_address_index', 1)
self._address = [I2C_ADDR1, I2C_ADDR2, I2C_ADDR3,
I2C_ADDR4][serial_address_index - 1]
self._motor = DRV8830(self._address)
