def cmd_tacho(port, var):
return b''.join([
ev3.opInput_Device, ev3.GET_RAW,
ev3.LCX(0),
ev3.port_motor_input(port),
ev3.GVX(var)
])
def _ops_pos(self):
"""
read positions of the wheels (returns operations)
"""
return b''.join([
ev3.opInput_Device,
ev3.READY_RAW,
ev3.LCX(0), # LAYER
ev3.port_motor_input(self._port_left), # NO
ev3.LCX(7), # TYPE - EV3-Large-Motor
ev3.LCX(1), # MODE - Degree
ev3.LCX(1), # VALUES
ev3.GVX(0), # VALUE1
ev3.opInput_Device,
ev3.READY_RAW,
ev3.LCX(0), # LAYER
ev3.port_motor_input(self._port_right), # NO
ev3.LCX(7), # TYPE - EV3-Large-Motor
ev3.LCX(0), # MODE - Degree
ev3.LCX(1), # VALUES
ev3.GVX(4) # VALUE1
])
def _ops_pos(self):
"""
read positions of the wheels (returns operations)
"""
return b''.join([
ev3.opInput_Device,
ev3.READY_RAW,
ev3.LCX(0), # LAYER
ev3.port_motor_input(self._port_left), # NO
ev3.LCX(7), # TYPE - EV3-Large-Motor
ev3.LCX(1), # MODE - Degree
ev3.LCX(1), # VALUES
ev3.GVX(0), # VALUE1
ev3.opInput_Device,
ev3.READY_RAW,
ev3.LCX(0), # LAYER
ev3.port_motor_input(self._port_right), # NO
ev3.LCX(7), # TYPE - EV3-Large-Motor
ev3.LCX(0), # MODE - Degree
ev3.LCX(1), # VALUES
ev3.GVX(4) # VALUE1
])
def get_degrees_two_motors(self, motors):
ops = b''.join([
ev3.opInput_Device,
ev3.READY_SI,
ev3.LCX(0), # LAYER
ev3.port_motor_input(motors[0]['port']), # NO
ev3.LCX(7), # TYPE
ev3.LCX(0), # MODE
ev3.LCX(1), # VALUES
ev3.GVX(0), # VALUE1
ev3.opInput_Device,
ev3.READY_RAW,
ev3.LCX(0), # LAYER
ev3.port_motor_input(motors[1]['port']), # NO
ev3.LCX(7), # TYPE
ev3.LCX(0), # MODE
ev3.LCX(1), # VALUES
ev3.GVX(4) # VALUE1
])
reply = self.ev3.send_direct_cmd(ops, global_mem=8)
(pos_0, pos_1) = struct.unpack('<fi', reply[5:])
#pos_0 -= self.base_pos[0]
#pos_1 -= self.base_pos[1]
return pos_0, pos_1
def get_degree_single_motor(self, motors, motor_num):
ops = b''.join([
ev3.opInput_Device,
ev3.READY_SI,
ev3.LCX(0), # LAYER
ev3.port_motor_input(motors[motor_num]['port']), # NO
ev3.LCX(7), # TYPE
ev3.LCX(0), # MODE
ev3.LCX(1), # VALUES
ev3.GVX(0), # VALUE1
])
reply = self.ev3.send_direct_cmd(ops, global_mem=8)
pos = struct.unpack('<fi', reply[5:])
print(pos)
pos -= self.base_pos[motor_num]
return pos
def remote_motor_status(port: int) -> None:
ops = b''.join([
ev3.opInput_Device,
ev3.READY_SI,
ev3.LCX(0), # LAYER
ev3.port_motor_input(port), # NO
ev3.LCX(7), # TYPE
ev3.LCX(0), # MODE
ev3.LCX(1), # VALUES
ev3.GVX(0), # VALUE1
])
reply = my_ev3.send_direct_cmd(ops, global_mem=4)
(pos_a,) = struct.unpack('<f', reply[5:])
# pos_a = struct.unpack('<f', reply[5:])
print("Get Remote MOTOR in PORT with position {}".format(pos_a))
import ev3, struct
my_ev3 = ev3.EV3(protocol=ev3.BLUETOOTH, host='00:16:53:43:1b:92')
my_ev3.verbosity = 1
ops = b''.join([
ev3.opInput_Device,
ev3.READY_SI,
ev3.LCX(0), # LAYER
ev3.port_motor_input(ev3.PORT_B), # NO
ev3.LCX(7), # TYPE
ev3.LCX(0), # MODE
ev3.LCX(1), # VALUES
ev3.GVX(0), # VALUE1
ev3.opInput_Device,
ev3.READY_RAW,
ev3.LCX(0), # LAYER
ev3.port_motor_input(ev3.PORT_C), # NO
ev3.LCX(7), # TYPE
ev3.LCX(0), # MODE
ev3.LCX(1), # VALUES
ev3.GVX(4) # VALUE1
])
reply = my_ev3.send_direct_cmd(ops, global_mem=8)
(pos_a, pos_d) = struct.unpack('<fi', reply[5:])
print("positions in degrees (ports B and C): {} and {}".format(pos_a, pos_d))
