127 lines
4.1 KiB
Python
127 lines
4.1 KiB
Python
"""
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Micropython library for
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PE_G1 (Motor*5*2 & Servo*4)
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MDB (Motor*4*2 & Servo*6)
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===============================
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@dahanzimin From the Mixly Team
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"""
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from time import sleep_ms
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from micropython import const
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_PE_GX_ADDRESS = const(0x25)
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_PE_GX_ID = const(0x00)
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_PE_GX_VBAT = const(0x01)
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_PE_GX_MOTOR = const(0x03)
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class PE_G1:
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def __init__(self, i2c_bus, addr=_PE_GX_ADDRESS):
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self._i2c = i2c_bus
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self._addr = addr
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sleep_ms(500)
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if self._rreg(_PE_GX_ID) == 0x25:
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self._PE_GX_SERVO = 0x0D
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self._type = 1 #PE_G1
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elif self._rreg(_PE_GX_ID) == 0x26:
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self._PE_GX_SERVO = 0x0B
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self._type = 2 #MDB
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else:
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raise AttributeError("Cannot find a PE_G1 or MDB")
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self.reset()
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def _wreg(self, reg, val):
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'''Write memory address'''
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try:
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self._i2c.writeto_mem(self._addr, reg, val.to_bytes(1, 'little'))
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except:
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return 0
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def _rreg(self, reg, nbytes=1):
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'''Read memory address'''
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try:
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self._i2c.writeto(self._addr, reg.to_bytes(1, 'little'))
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return self._i2c.readfrom(self._addr, nbytes)[0] if nbytes <= 1 else self._i2c.readfrom(self._addr, nbytes)
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except:
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return 0
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def reset(self):
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"""Reset all registers to default state"""
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if self._type == 1:
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self._i2c.writeto_mem(self._addr, _PE_GX_MOTOR, bytes(18))
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if self._type == 2:
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self._i2c.writeto_mem(self._addr, _PE_GX_MOTOR, bytes(20))
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def read_bat(self, ratio=1):
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'''Read battery power'''
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vbat = self._rreg(_PE_GX_VBAT) << 2 | self._rreg(_PE_GX_VBAT+1) >> 6
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if self._type == 1:
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return round(vbat * ratio * 0.00968, 2)
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if self._type == 2:
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return round(vbat * ratio * 0.01398, 2)
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def m_pwm(self, index, duty=None):
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"""Motor PWM duty cycle data register"""
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if self._type == 1: # Motor*5*2
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if not 0 <= index <= 9:
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raise ValueError("Motor port must be a number in the range: 0~4")
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if self._type == 2: # Motor*4*2
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if not 0 <= index <= 7:
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raise ValueError("Motor port must be a number in the range: 0~3")
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if duty is None:
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return self._rreg(_PE_GX_MOTOR + index)
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else:
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if not 0 <= duty <= 255:
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raise ValueError("Duty must be a number in the range: 0~255")
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self._wreg(_PE_GX_MOTOR + index, duty)
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def s_pwm(self, index, duty=None):
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"""Servo PWM duty cycle data register"""
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if self._type == 1: # Servo*4
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if not 0 <= index <= 3:
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raise ValueError("Servo port must be a number in the range: 0~3")
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if self._type == 2: # Servo*6
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if not 0 <= index <= 5:
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raise ValueError("Servo port must be a number in the range: 0~5")
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if duty is None:
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return self._rreg(self._PE_GX_SERVO + index * 2) << 8 | self._rreg(self._PE_GX_SERVO + index * 2 + 1)
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else:
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if not 0 <= duty <= 4095:
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raise ValueError("Duty must be a number in the range: 0~4095")
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self._wreg(self._PE_GX_SERVO + index * 2,duty >> 8)
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self._wreg(self._PE_GX_SERVO + index * 2 + 1,duty & 0xff)
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def motor(self, index, action="NC", speed=0):
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if not 0 <= speed <= 100:
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raise ValueError("Speed parameters must be a number in the range: 0~100")
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if action == "N":
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self.m_pwm(index * 2, 0)
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self.m_pwm(index * 2 + 1, 0)
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elif action == "P":
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self.m_pwm(index * 2, 255)
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self.m_pwm(index * 2 + 1, 255)
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elif action == "CW":
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self.m_pwm(index * 2, 0)
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self.m_pwm(index * 2 + 1, speed * 255 // 100)
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elif action == "CCW":
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self.m_pwm(index * 2, speed * 255 // 100)
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self.m_pwm(index * 2 + 1, 0)
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elif action == "NC":
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return round(self.m_pwm(index * 2) * 100 / 255), round(self.m_pwm(index * 2 + 1) * 100 / 255)
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else:
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raise ValueError('Invalid input, valid are "N","P","CW","CCW"')
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def servo180(self, index, angle=None):
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if angle is None:
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return round((self.s_pwm(index) - 102.375) * 180 / 409.5)
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else:
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if not 0 <= angle <= 180:
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raise ValueError("Servo(180) angle must be a number in the range: 0~180")
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self.s_pwm(index,round(102.375 + 409.5 / 180 * angle))
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def servo360(self, index, speed=None):
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if speed is None:
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return round((self.s_pwm(index) - 102.375) * 200 / 409.5 - 100)
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else:
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if not -100 <= speed <= 100:
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raise ValueError("Servo(360) speed must be a number in the range: -100~100")
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self.s_pwm(index,round(102.375 + 409.5 / 200 * (speed + 100)))
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