def _attach_device(self, dev_type, port):
if port in PORTS and dev_type in DEVICE_TYPES:
log.info("Attached %s on port %s", DEVICE_TYPES[dev_type],
PORTS[port])
else:
log.warning("Attached device 0x%x on port 0x%x", dev_type, port)
if dev_type == DEV_MOTOR:
self.devices[port] = EncodedMotor(self, port)
elif dev_type == DEV_IMOTOR:
self.motor_external = EncodedMotor(self, port)
self.devices[port] = self.motor_external
elif dev_type == DEV_DCS:
self.color_distance_sensor = ColorDistanceSensor(self, port)
self.devices[port] = self.color_distance_sensor
elif dev_type == DEV_LED:
self.devices[port] = LED(self, port)
elif dev_type == DEV_TILT_SENSOR:
self.devices[port] = TiltSensor(self, port)
elif dev_type == DEV_AMPERAGE:
self.devices[port] = Amperage(self, port)
elif dev_type == DEV_VOLTAGE:
self.devices[port] = Voltage(self, port)
else:
log.warning("Unhandled peripheral type 0x%x on port 0x%x",
dev_type, port)
self.devices[port] = Peripheral(self, port)
def play_scenario(movehub):
"""Play a scenario
movehub : The hub where motors are connected to
"""
motor_a = Motor(movehub, movehub.PORT_A)
motor_b = Motor(movehub, movehub.PORT_B)
motor_c = EncodedMotor(movehub, movehub.PORT_C)
# motor_c.subscribe(show_angle_value, mode=EncodedMotor.SENSOR_ANGLE)
print("Reset angle:")
reset_angle(motor_c)
sleep(2)
print("Forward:")
forward(motor_a, motor_b, motor_c)
sleep(1)
print("Backward:")
backward(motor_a, motor_b, motor_c)
sleep(1)
print("Stop")
stop_moving(motor_a, motor_b)
print("Left:")
go_left(motor_c)
sleep(2)
print("Right:")
go_right(motor_c)
sleep(2)
def __init__(cls):
"""Create the connection with the car"""
cls.connection = get_connection_gatt(hub_mac=cls.MY_MOVEHUB_ADD)
try:
# The motors
cls.movehub = MoveHub(cls.connection)
cls.front_motor = Motor(cls.movehub, cls.movehub.PORT_A)
cls.back_motor = Motor(cls.movehub, cls.movehub.PORT_B)
cls.directionnal_motor = EncodedMotor(cls.movehub,
cls.movehub.PORT_C)
cls.old_angle = cls.DEFAULT_ANGLE
except:
cls.movehub = None
cls.front_motor = None
cls.back_motor = None
cls.directionnal_motor = None
cls.instance = None
cls.connection = None
cls.old_angle = None
def test_motor_sensor(self):
hub = HubMock()
motor = EncodedMotor(hub, MoveHub.PORT_C)
hub.peripherals[MoveHub.PORT_C] = motor
vals = []
def callback(*args):
vals.append(args)
hub.connection.notification_delayed('0a004702020100000001', 0.1)
motor.subscribe(callback)
hub.connection.notification_delayed("0800450200000000", 0.1)
hub.connection.notification_delayed("08004502ffffffff", 0.2)
hub.connection.notification_delayed("08004502feffffff", 0.3)
time.sleep(0.4)
hub.connection.notification_delayed('0a004702020000000000', 0.1)
motor.unsubscribe(callback)
hub.connection.wait_notifications_handled()
self.assertEqual([(0, ), (-1, ), (-2, )], vals)
def test_motor(self):
hub = HubMock()
motor = EncodedMotor(hub, MoveHub.PORT_D)
hub.peripherals[MoveHub.PORT_D] = motor
hub.connection.notification_delayed('050082030a', 0.1)
motor.start_power(1.0)
self.assertEqual(b"07008103110164", hub.writes.pop(1)[1])
hub.connection.notification_delayed('050082030a', 0.1)
motor.stop()
self.assertEqual(b"0c0081031109000064647f03", hub.writes.pop(1)[1])
hub.connection.notification_delayed('050082030a', 0.1)
motor.set_acc_profile(1.0)
self.assertEqual(b"090081031105e80300", hub.writes.pop(1)[1])
hub.connection.notification_delayed('050082030a', 0.1)
motor.set_dec_profile(1.0)
self.assertEqual(b"090081031106e80300", hub.writes.pop(1)[1])
hub.connection.notification_delayed('050082030a', 0.1)
motor.start_speed(1.0)
self.assertEqual(b"090081031107646403", hub.writes.pop(1)[1])
hub.connection.notification_delayed('050082030a', 0.1)
motor.stop()
self.assertEqual(b"0c0081031109000064647f03", hub.writes.pop(1)[1])
logging.debug("\n\n")
hub.connection.notification_delayed('0500820301', 0.1)
hub.connection.notification_delayed('050082030a', 0.2)
motor.timed(1.0)
self.assertEqual(b"0c0081031109e80364647f03", hub.writes.pop(1)[1])
hub.connection.notification_delayed('0500820301', 0.1)
hub.connection.notification_delayed('050082030a', 0.2)
motor.angled(180)
self.assertEqual(b"0e008103110bb400000064647f03", hub.writes.pop(1)[1])
hub.connection.notification_delayed('050082030a', 0.2)
motor.preset_encoder(-180)
self.assertEqual(b"0b0081031151024cffffff", hub.writes.pop(1)[1])
hub.connection.notification_delayed('0500820301', 0.1)
hub.connection.notification_delayed('050082030a', 0.2)
motor.goto_position(0)
self.assertEqual(b"0e008103110d0000000064647f03", hub.writes.pop(1)[1])
hub.connection.wait_notifications_handled()