def test_servo_config_min_max_pulse(self):
self.board.servo_config(2, 600, 2000)
data = chain([0xF0, 0x70, 2],
to_two_bytes(600),
to_two_bytes(2000),
[0xF7, 0xE0 + 2, 0, 0])
self.assert_serial(*data)
def test_to_two_bytes(self):
for i in range(32768):
val = to_two_bytes(i)
self.assertEqual(len(val), 2)
self.assertEqual(to_two_bytes(32767), bytearray(b'\x7f\xff'))
self.assertRaises(ValueError, to_two_bytes, 32768)
def test_servo_config(self):
self.board.servo_config(2)
data = chain([0xF0, 0x70, 2],
to_two_bytes(544),
to_two_bytes(2400),
[0xF7, 0xE0 + 2, 0, 0])
self.assert_serial(*list(data))
def test_to_two_bytes(self):
for i in range(32768):
val = to_two_bytes(i)
self.assertEqual(len(val), 2)
self.assertEqual(to_two_bytes(32767), bytearray(b'\x7f\xff'))
self.assertRaises(ValueError, to_two_bytes, 32768)
def test_set_mode_servo(self):
p = self.board.digital[2]
p.mode = pyfirmata.SERVO
data = chain([chr(0xF0), chr(0x70), chr(2)], to_two_bytes(544),
to_two_bytes(2400), chr(0xF7), chr(0xE0 + 2), chr(0),
chr(0))
self.assert_serial(*data)
def test_servo_config_min_max_pulse_angle(self):
self.board.servo_config(2, 600, 2000, angle=90)
data = chain([0xF0, 0x70, 2], to_two_bytes(600),
to_two_bytes(2000), [0xF7])
angle_set = [0xE0 + 2, 90 % 128,
90 >> 7] # Angle set happens through analog message
data = list(data) + angle_set
self.assert_serial(*data)
def test_set_mode_servo(self):
p = self.board.digital[2]
p.mode = pyfirmata.SERVO
data = chain([0xF0, 0x70, 2],
to_two_bytes(544),
to_two_bytes(2400),
[0xF7, 0xE0 + 2, 0, 0])
self.assert_serial(*data)
def test_servo_config_min_max_pulse_angle(self):
self.board.servo_config(2, 600, 2000, angle=90)
data = chain([chr(0xF0), chr(0x70), chr(2)], to_two_bytes(600),
to_two_bytes(2000), chr(0xF7))
angle_set = [chr(0xE0 + 2), chr(90 % 128),
chr(90 >> 7)] # Angle set happens through analog message
data = list(data) + angle_set
self.assert_serial(*data)
def test_servo_config_min_max_pulse_angle(self):
self.board.servo_config(2, 600, 2000, angle=90)
data = chain([0xF0, 0x70, 2], to_two_bytes(600), to_two_bytes(2000),
[0xF7])
angle_set = [0xE0 + 2, 90 % 128,
90 >> 7] # Angle set happens through analog message
data = list(data) + angle_set
self.assert_serial(*data)
def test_servo_config_min_max_pulse_angle(self):
self.board.servo_config(2, 600, 2000, angle=90)
data = chain([chr(0xF0), chr(0x70), chr(2)], to_two_bytes(600),
to_two_bytes(2000), chr(0xF7))
angle_set = [chr(0xE0 + 2), chr(90 % 128),
chr(90 >> 7)] # Angle set happens through analog message
data = list(data) + angle_set
self.assert_serial(*data)
def test_from_two_bytes(self):
for i in range(32766, 32768):
val = to_two_bytes(i)
ret = from_two_bytes(val)
self.assertEqual(ret, i)
self.assertEqual(from_two_bytes(('\xff', '\xff')), 32767)
self.assertEqual(from_two_bytes(('\x7f', '\xff')), 32767)
def test_from_two_bytes(self):
for i in range(32766, 32768):
val = to_two_bytes(i)
ret = from_two_bytes(val)
self.assertEqual(ret, i)
self.assertEqual(from_two_bytes(('\xff', '\xff')), 32767)
self.assertEqual(from_two_bytes(('\x7f', '\xff')), 32767)
def exec_ping(self,
trigger_mode=1,
trigger_duration=10,
echo_timeout=65000):
"""
Trigger the pin and wait for a pulseIn echo.
Used with HC-SR04 ultrasonic ranging sensors
:arg trigger_mode: Uses value as a boolean,
0 to trigger LOW,
1 to trigger HIGH (default, for HC-SR04 modules).
:arg trigger_duration: Duration (us) for the trigger signal.
:arg echo_timeout: Time (us) to wait for the echo (pulseIn timeout).
"""
if trigger_mode not in (0, 1):
raise IOError("trigger_mode should be 0 or 1")
# This is the protocol to ask for a pulseIn:
# START_SYSEX(0xF0) // send_sysex(...)
# puseIn/pulseOut(0x74) // send_sysex(PULSE_IN, ...)
# pin(0-127)
# value(1 or 0, HIGH or LOW)
# pulseOutDuration 0 (LSB)
# pulseOutDuration 0 (MSB)
# pulseOutDuration 1 (LSB)
# pulseOutDuration 1 (MSB)
# pulseOutDuration 2 (LSB)
# pulseOutDuration 2 (MSB)
# pulseOutDuration 3 (LSB)
# pulseOutDuration 3 (MSB)
# pulseInTimeout 0 (LSB)
# pulseInTimeout 0 (MSB)
# pulseInTimeout 1 (LSB)
# pulseInTimeout 1 (MSB)
# pulseInTimeout 2 (LSB)
# pulseInTimeout 2 (MSB)
# pulseInTimeout 3 (LSB)
# pulseInTimeout 3 (MSB)
# END_SYSEX(0xF7) // send_sysex(...)
data = bytearray()
data.append(self.index) # Pin number
data.append(trigger_mode) # Trigger mode (1 or 0, HIGH or LOW)
trigger_duration_arr = util.to_two_bytes((trigger_duration >> 24) & 0xFF) \
+ util.to_two_bytes((trigger_duration >> 16) & 0xFF) \
+ util.to_two_bytes((trigger_duration >> 8) & 0xFF) \
+ util.to_two_bytes(trigger_duration & 0xFF)
data.extend(trigger_duration_arr) # pulseOutDuration
echo_timeout_arr = util.to_two_bytes((echo_timeout >> 24) & 0xFF) \
+ util.to_two_bytes((echo_timeout >> 16) & 0xFF) \
+ util.to_two_bytes((echo_timeout >> 8) & 0xFF) \
+ util.to_two_bytes(echo_timeout & 0xFF)
data.extend(echo_timeout_arr) # pulseInTimeout
self._interfaz.send_sysex(PING_READ, data)
def send_cmd_serial(connection, to, operation, operand1=0, operand2=0):
operand2_str = "%s%s" % util.to_two_bytes(operand2)
string = 'AF%sZ%s%s%sFA' % (to, operation, operand1, operand2_str)
return connection.write(string)
def test_servo_config_min_max_pulse(self):
self.board.servo_config(2, 600, 2000)
data = chain([chr(0xF0), chr(0x70), chr(2)], to_two_bytes(600),
to_two_bytes(2000), chr(0xF7), chr(0xE0 + 2), chr(0),
chr(0))
self.assert_serial(*data)
def test_servo_config(self):
self.board.servo_config(2)
data = chain([chr(0xF0), chr(0x70), chr(2)], to_two_bytes(544),
to_two_bytes(2400), chr(0xF7), chr(0xE0 + 2), chr(0),
chr(0))
self.assert_serial(*data)
def send_cmd(to, operation, operand1=0, operand2=0):
operand2_str = "%s%s" % util.to_two_bytes(operand2)
string = 'AF%sZ%s%s%sFA' % (to, operation, operand1, operand2_str)
print "sending %s" % string
return connection.write(string)
def test_set_mode_servo(self):
p = self.board.digital[2]
p.mode = pyfirmata.SERVO
data = chain([0xF0, 0x70, 2], to_two_bytes(544), to_two_bytes(2400),
[0xF7, 0xE0 + 2, 0, 0])
self.assert_serial(*data)
def configServo(self, pin, min_pulse=544, max_pulse=2400):
data = itertools.chain([pin],
util.to_two_bytes(min_pulse),
util.to_two_bytes(max_pulse),
[self.robotid])
self.board.board.send_sysex(SERVO_CONFIG, data)
def set_sampling_interval(self, interval):
self._interfaz.send_sysex(SAMPLING_INTERVAL,
util.to_two_bytes(interval))
def moveServo(self, pin, angle):
'''Pasa un ángulo entre 0 y 180 grados al servo conectado
al pin indicado'''
data = itertools.chain([pin], reversed(util.to_two_bytes(angle)),
[self.robotid])
self.board.board.send_sysex(MOVE_SERVO, data)
def test_servo_config(self):
self.board.servo_config(2)
data = chain([chr(0xF0), chr(0x70), chr(2)], to_two_bytes(544),
to_two_bytes(2400), chr(0xF7), chr(0xE0 + 2), chr(0), chr(0))
self.assert_serial(*data)
def test_servo_config_min_max_pulse(self):
self.board.servo_config(2, 600, 2000)
data = chain([chr(0xF0), chr(0x70), chr(2)], to_two_bytes(600),
to_two_bytes(2000), chr(0xF7), chr(0xE0 + 2), chr(0), chr(0))
self.assert_serial(*data)
def test_servo_config(self):
self.board.servo_config(2)
data = chain([0xF0, 0x70, 2], to_two_bytes(544), to_two_bytes(2400),
[0xF7, 0xE0 + 2, 0, 0])
self.assert_serial(*list(data))
def test_set_mode_servo(self):
p = self.board.digital[2]
p.mode = pyfirmata.SERVO
data = chain([chr(0xF0), chr(0x70), chr(2)], to_two_bytes(544),
to_two_bytes(2400), chr(0xF7), chr(0xE0 + 2), chr(0), chr(0))
self.assert_serial(*data)
def test_servo_config_min_max_pulse(self):
self.board.servo_config(2, 600, 2000)
data = chain([0xF0, 0x70, 2], to_two_bytes(600), to_two_bytes(2000),
[0xF7, 0xE0 + 2, 0, 0])
self.assert_serial(*data)
