初始化提交

boards/default/micropython/build/lib/pe_g1.py

@@ -0,0 +1,112 @@
+"""
+PE_G1
+
+Micropython	library for the PE_G1(Motor*5*2 & Servo*4)
+=======================================================
+
+#Preliminary composition	  	    			20230120
+
+@dahanzimin From the Mixly Team
+"""
+from time import sleep_ms
+from micropython import const
+
+_PE_G1_ADDRESS			= const(0x25)
+_PE_G1_ID   			= const(0x00)
+_PE_G1_VBAT   			= const(0x01)
+_PE_G1_MOTOR			= const(0x03)
+_PE_G1_SERVO			= const(0x0D)
+_PE_G1_OFF  			= const(0x16)
+
+class PE_G1:
+	def __init__(self, i2c_bus, addr=_PE_G1_ADDRESS):
+		self._i2c=i2c_bus
+		self._addr = addr
+		sleep_ms(500)
+		if self._rreg(_PE_G1_ID)!= 0x25:
+			raise AttributeError("Cannot find a PE_G1")
+		self.reset()
+
+	def _wreg(self, reg, val):
+		'''Write memory address'''
+		try:
+			self._i2c.writeto_mem(self._addr, reg, val.to_bytes(1, 'little'))
+		except:
+			return 0 
+
+	def _rreg(self, reg, nbytes=1):
+		'''Read memory address'''
+		try:
+			self._i2c.writeto(self._addr, reg.to_bytes(1, 'little'))
+			return  self._i2c.readfrom(self._addr, nbytes)[0] if nbytes<=1 else self._i2c.readfrom(self._addr, nbytes)[0:nbytes]
+		except:
+			return 0
+
+	def reset(self):
+		"""Reset all registers to default state"""
+		for reg in range(_PE_G1_MOTOR,_PE_G1_MOTOR+18):
+			self._wreg(reg,0x00)
+
+	def read_bat(self,ratio=0.0097):
+		'''Read battery power'''
+		vbat= self._rreg(_PE_G1_VBAT)<<2 | self._rreg(_PE_G1_VBAT+1)>>6
+		return round(vbat*ratio,2)
+	
+	def m_pwm(self,index,duty=None):
+		"""Motor*5*2 PWM duty cycle data register"""
+		if not 0 <= index <= 9:
+			raise ValueError("Motor port must be a number in the range: 0~9")
+		if duty is None:
+			return self._rreg(_PE_G1_MOTOR+index)
+		else:
+			if not 0 <= duty <= 255:
+				raise ValueError("Duty must be a number in the range: 0~255")
+			self._wreg(_PE_G1_MOTOR+index,duty)
+
+	def s_pwm(self,index,duty=None):
+		"""Servo*4 PWM duty cycle data register"""
+		if not 0 <= index <= 3:
+			raise ValueError("Servo port must be a number in the range: 0~3")
+		if duty is None:
+			return self._rreg(_PE_G1_SERVO+index*2)<<8 | self._rreg(_PE_G1_SERVO+index*2+1)
+		else:
+			if not 0 <= duty <= 4095:
+				raise ValueError("Duty must be a number in the range: 0~4095")
+			self._wreg(_PE_G1_SERVO+index*2,duty>>8)
+			self._wreg(_PE_G1_SERVO+index*2+1,duty&0xff)
+
+	def motor(self,index,action,speed=0):
+		if not 0 <= speed <= 100:
+			raise ValueError("Speed parameters must be a number in the range: 0~100")
+		if action=="N":
+			self.m_pwm(index*2,0)
+			self.m_pwm(index*2+1,0)
+		elif action=="P":
+			self.m_pwm(index*2,255)
+			self.m_pwm(index*2+1,255)
+		elif action=="CW":
+			self.m_pwm(index*2,0)
+			self.m_pwm(index*2+1,speed*255//100)
+		elif action=="CCW":
+			self.m_pwm(index*2,speed*255//100)
+			self.m_pwm(index*2+1,0)
+		elif action=="NC":
+			return round(self.m_pwm(index*2)*100/255),round(self.m_pwm(index*2+1)*100/255)
+		else:
+			raise ValueError('Invalid input, valid are "N","P","CW","CCW"')
+
+	def servo180(self,index,angle=None):
+		if angle is None:
+			return  round((self.s_pwm(index)-102.375)*180/409.5)
+		else:
+			if not 0 <= angle <= 180:
+				raise ValueError("Servo(180) angle must be a number in the range: 0~180")
+			self.s_pwm(index,round(102.375 + 409.5/180 * angle))
+
+	def servo360(self,index,speed=None):
+		if speed is None:
+			return  round((self.s_pwm(index)-102.375)*200/409.5-100)
+		else:
+			if not  -100<= speed <= 100:
+				raise ValueError("Servo(360) speed must be a number in the range: -100~100")
+			self.s_pwm(index,round(102.375 + 409.5/200 * (speed+100)))