from mpython import i2c
from micropython import const
import time
__VERSION__ = '2.1'
MOTOR_1 = const(0x01)
"""
M1电机编号，0x01
"""
MOTOR_2 = const(0x02)
"""
M2电机编号，0x02
"""
_speed_buf = {}
[docs]def set_speed(motor_no, speed):
"""
设置电机速度
:param int motor_no: 控制电机编号，可以使用 ``MOTOR_1``, ``MOTOR_2`` ,或者直接写入电机编号。
:param int speed: 电机速度，范围-100~100，负值代表反转。
"""
global _speed_buf
speed = max(min(speed, 100), -100)
_speed_buf.update({motor_no: speed})
attempts = 0
while True:
try:
i2c.writeto(0x10, bytearray([motor_no, speed]))
except Exception as e:
attempts = attempts + 1
time.sleep_ms(500)
if attempts > 2:
break
else:
break
[docs]def get_speed(motor_no):
"""
返回电机速度
:param int motor_no: 控制电机编号，可以使用 ``MOTOR_1``, ``MOTOR_2``,或者直接写入电机编号。
:rtype: int
:return: 返回该电机速度
"""
global _speed_buf
if motor_no in _speed_buf:
return _speed_buf[motor_no]
else:
return None
[docs]def led_on(no, brightness=50):
"""
打开灯。电机接口,除了可以驱动电机,还能做灯的控制。
:param int no: 控制电机编号，可以使用 ``MOTOR_1``, ``MOTOR_2``,或者直接写入电机编号。
:param int brightness: 设置亮度,范围0~100
"""
brightness = max(min(brightness, 100), 0)
attempts = 0
while True:
try:
i2c.writeto(0x10, bytearray([no, brightness]))
except Exception as e:
attempts = attempts + 1
time.sleep_ms(500)
if attempts > 2:
break
else:
break
[docs]def led_off(no):
"""
关闭灯。
:param int no: 控制电机编号，可以使用 ``MOTOR_1``, ``MOTOR_2``,或者直接写入电机编号。
"""
attempts = 0
while True:
try:
i2c.writeto(0x10, bytearray([no, 0]))
except Exception as e:
attempts = attempts + 1
time.sleep_ms(500)
if attempts > 2:
break
else:
break
[docs]def get_battery_level():
"""
获取拓展板的电压值。
:return: 返回电量，单位mV。
"""
i2c.writeto(16, b'\x03')
tmp = i2c.readfrom(16, 2)
return struct.unpack('H', tmp)[0]
import struct
[docs]class IR_encode(object):
""" 红外编码类
"""
[docs] def encode_raw(self, carry_freq, len, repeat_pos, code, data):
"""
制作任意编码。
:param int carry_freq: 载波频率，单位hz。
:param int len: 加上循环码后的单次发码的code总数
:param int repeat_pos: 循环码位置
:param int code: code列表，16个成员,记录8组不同的高低电平波形
:param char data: 编码波形数据，最长64字节
:return: 返回编码后的红外脉冲数据buff
"""
period = 1000000//carry_freq # us
buff = struct.pack('>H2B', period*16, len, repeat_pos) # carry, len, repeat_pos
i = 0
_code = [0]*16
while i < 8:
_code[i] = code[i]//period
_code[i+1] = code[i+1]//16
i += 2
# print(_code)
for i in _code:
buff += struct.pack('>H', i)
for i in data:
buff += struct.pack('B', i)
return buff
[docs] def encode_nec(self, user_code, command_code):
"""
NEC编码。
:param int user_code: 用户码
:param int command_code: 命令码
:return: 返回编码后的红外脉冲数据buff
"""
buff = struct.pack('>H2B', 416, 36, 34) # carry, len, repeat_pos
# head logic_1 logic_0 stop repeat0 repeat1
nec_code = [346, 281, 22, 106, 22, 35, 22, 2437, 346, 140, 22, 6012, 0, 0, 0, 0]
nec_key = [0]*36
nec_key[0] = 0 # lead code
for i in range(0, 8): # 把用户码转为code编号
if (user_code >> i) & 0x01:
nec_key[i+1] = 1
nec_key[i+1+8] = 2
else:
nec_key[i+1] = 2
nec_key[i+1+8] = 1
if (command_code >> i) & 0x01:
nec_key[i+1+16] = 1
nec_key[i+1+24] = 2
else:
nec_key[i+1+16] = 2
nec_key[i+1+24] = 1
nec_key[33] = 3
nec_key[34] = 4
nec_key[35] = 5
# print(nec_key)
# 计算stop bit低电平时间
stopbit_low_time = 108000 - (9000 + 4500 + 2250*16 + 1120*16 + 560) # 因为补码的原因，bit0 bit1数量各占16bit
nec_code[7] = stopbit_low_time//16
# print(nec_code)
for i in nec_code:
buff += struct.pack('>H', i)
for i in nec_key:
buff += struct.pack('B', i)
# print(buff)
return buff
[docs]class IR(object):
"""
红外收发管的抽象类，用于红外发射和学习。
"""
[docs] def send(self, buff, repeat_en=0):
"""
发送红外脉冲数据buff
:param bytes buff: 可以是 ``IR_encode.encode_nec`` 返回的buff。或，学习后的buff。
:param init repeat_en: 重复码。用于表示按键常按。当repeat_en为1时，会不断发送重复码，直至 ``stop_send`` 停止发送。
"""
tmp = bytearray([0x04, repeat_en])
tmp += buff
# print(tmp)
i2c.writeto(16, tmp)
# self.check_buff(tmp)
[docs] def stop_send(self):
"""
停止发送，当发送重复码后，使用该函数来停止发送。
"""
i2c.writeto(16, b'\x05')
[docs] def learn(self, wait=True):
"""
红外学习。默认下wait为True,此时为阻塞函数。learn()开始后，须在5秒内，常按住被学习对象按键。当学习完成后，会返回学习结果，成功True，失败Fail。wait 为 False,则为非阻塞，此时不返回结果。
:param bool wait: 是否阻塞。
:return: bool类型，返回结果
"""
i2c.writeto(16, b'\x06')
print("Start Learning: the learning object should hold down the button within 5 seconds.")
if wait:
time.sleep(5)
if self.__get_learn_status() != 0:
# error
return False
else:
return True
[docs] def get_learn_data(self):
"""
返回学习后的，红外编码数据。该函数须在 ``learn`` 函数后使用。
:return: 返回编码后的红外脉冲数据buff
"""
i2c.writeto(16, b'\x07')
return i2c.readfrom(16, 118)
def __get_learn_status(self):
i2c.writeto(16, b'\x08')
return i2c.readfrom(16, 1)[0]