367 lines
16 KiB
Python
367 lines
16 KiB
Python
# -*- coding: utf-8 -*-
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#############################################################
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# This file was automatically generated on 2013-02-19. #
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# #
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# Bindings Version 2.0.4 #
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# #
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# If you have a bugfix for this file and want to commit it, #
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# please fix the bug in the generator. You can find a link #
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# to the generator git on tinkerforge.com #
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#############################################################
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try:
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from collections import namedtuple
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except ImportError:
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try:
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from .ip_connection import namedtuple
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except ValueError:
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from ip_connection import namedtuple
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try:
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from .ip_connection import Device, IPConnection, Error
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except ValueError:
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from ip_connection import Device, IPConnection, Error
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GetProtocol1BrickletName = namedtuple('Protocol1BrickletName', ['protocol_version', 'firmware_version', 'name'])
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GetIdentity = namedtuple('Identity', ['uid', 'connected_uid', 'position', 'hardware_version', 'firmware_version', 'device_identifier'])
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class BrickDC(Device):
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"""
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Device for controlling DC motors
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"""
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DEVICE_IDENTIFIER = 11
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CALLBACK_UNDER_VOLTAGE = 21
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CALLBACK_EMERGENCY_SHUTDOWN = 22
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CALLBACK_VELOCITY_REACHED = 23
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CALLBACK_CURRENT_VELOCITY = 24
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FUNCTION_SET_VELOCITY = 1
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FUNCTION_GET_VELOCITY = 2
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FUNCTION_GET_CURRENT_VELOCITY = 3
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FUNCTION_SET_ACCELERATION = 4
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FUNCTION_GET_ACCELERATION = 5
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FUNCTION_SET_PWM_FREQUENCY = 6
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FUNCTION_GET_PWM_FREQUENCY = 7
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FUNCTION_FULL_BRAKE = 8
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FUNCTION_GET_STACK_INPUT_VOLTAGE = 9
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FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE = 10
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FUNCTION_GET_CURRENT_CONSUMPTION = 11
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FUNCTION_ENABLE = 12
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FUNCTION_DISABLE = 13
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FUNCTION_IS_ENABLED = 14
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FUNCTION_SET_MINIMUM_VOLTAGE = 15
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FUNCTION_GET_MINIMUM_VOLTAGE = 16
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FUNCTION_SET_DRIVE_MODE = 17
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FUNCTION_GET_DRIVE_MODE = 18
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FUNCTION_SET_CURRENT_VELOCITY_PERIOD = 19
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FUNCTION_GET_CURRENT_VELOCITY_PERIOD = 20
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FUNCTION_GET_PROTOCOL1_BRICKLET_NAME = 241
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FUNCTION_GET_CHIP_TEMPERATURE = 242
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FUNCTION_RESET = 243
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FUNCTION_GET_IDENTITY = 255
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DRIVE_MODE_DRIVE_BRAKE = 0
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DRIVE_MODE_DRIVE_COAST = 1
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def __init__(self, uid, ipcon):
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"""
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Creates an object with the unique device ID *uid* and adds it to
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the IP Connection *ipcon*.
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"""
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Device.__init__(self, uid, ipcon)
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self.api_version = (2, 0, 0)
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self.response_expected[BrickDC.FUNCTION_SET_VELOCITY] = BrickDC.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickDC.FUNCTION_GET_VELOCITY] = BrickDC.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickDC.FUNCTION_GET_CURRENT_VELOCITY] = BrickDC.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickDC.FUNCTION_SET_ACCELERATION] = BrickDC.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickDC.FUNCTION_GET_ACCELERATION] = BrickDC.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickDC.FUNCTION_SET_PWM_FREQUENCY] = BrickDC.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickDC.FUNCTION_GET_PWM_FREQUENCY] = BrickDC.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickDC.FUNCTION_FULL_BRAKE] = BrickDC.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickDC.FUNCTION_GET_STACK_INPUT_VOLTAGE] = BrickDC.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickDC.FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE] = BrickDC.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickDC.FUNCTION_GET_CURRENT_CONSUMPTION] = BrickDC.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickDC.FUNCTION_ENABLE] = BrickDC.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickDC.FUNCTION_DISABLE] = BrickDC.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickDC.FUNCTION_IS_ENABLED] = BrickDC.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickDC.FUNCTION_SET_MINIMUM_VOLTAGE] = BrickDC.RESPONSE_EXPECTED_TRUE
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self.response_expected[BrickDC.FUNCTION_GET_MINIMUM_VOLTAGE] = BrickDC.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickDC.FUNCTION_SET_DRIVE_MODE] = BrickDC.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickDC.FUNCTION_GET_DRIVE_MODE] = BrickDC.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickDC.FUNCTION_SET_CURRENT_VELOCITY_PERIOD] = BrickDC.RESPONSE_EXPECTED_TRUE
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self.response_expected[BrickDC.FUNCTION_GET_CURRENT_VELOCITY_PERIOD] = BrickDC.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickDC.CALLBACK_UNDER_VOLTAGE] = BrickDC.RESPONSE_EXPECTED_ALWAYS_FALSE
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self.response_expected[BrickDC.CALLBACK_EMERGENCY_SHUTDOWN] = BrickDC.RESPONSE_EXPECTED_ALWAYS_FALSE
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self.response_expected[BrickDC.CALLBACK_VELOCITY_REACHED] = BrickDC.RESPONSE_EXPECTED_ALWAYS_FALSE
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self.response_expected[BrickDC.CALLBACK_CURRENT_VELOCITY] = BrickDC.RESPONSE_EXPECTED_ALWAYS_FALSE
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self.response_expected[BrickDC.FUNCTION_GET_PROTOCOL1_BRICKLET_NAME] = BrickDC.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickDC.FUNCTION_GET_CHIP_TEMPERATURE] = BrickDC.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickDC.FUNCTION_RESET] = BrickDC.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickDC.FUNCTION_GET_IDENTITY] = BrickDC.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.callback_formats[BrickDC.CALLBACK_UNDER_VOLTAGE] = 'H'
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self.callback_formats[BrickDC.CALLBACK_EMERGENCY_SHUTDOWN] = ''
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self.callback_formats[BrickDC.CALLBACK_VELOCITY_REACHED] = 'h'
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self.callback_formats[BrickDC.CALLBACK_CURRENT_VELOCITY] = 'h'
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def set_velocity(self, velocity):
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"""
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Sets the velocity of the motor. Whereas -32767 is full speed backward,
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0 is stop and 32767 is full speed forward. Depending on the
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acceleration (see :func:`SetAcceleration`), the motor is not immediately
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brought to the velocity but smoothly accelerated.
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The velocity describes the duty cycle of the PWM with which the motor is
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controlled, e.g. a velocity of 3277 sets a PWM with a 10% duty cycle.
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You can not only control the duty cycle of the PWM but also the frequency,
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see :func:`SetPWMFrequency`.
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The default velocity is 0.
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"""
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self.ipcon.send_request(self, BrickDC.FUNCTION_SET_VELOCITY, (velocity,), 'h', '')
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def get_velocity(self):
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"""
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Returns the velocity as set by :func:`SetVelocity`.
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"""
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return self.ipcon.send_request(self, BrickDC.FUNCTION_GET_VELOCITY, (), '', 'h')
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def get_current_velocity(self):
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"""
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Returns the *current* velocity of the motor. This value is different
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from :func:`GetVelocity` whenever the motor is currently accelerating
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to a goal set by :func:`SetVelocity`.
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"""
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return self.ipcon.send_request(self, BrickDC.FUNCTION_GET_CURRENT_VELOCITY, (), '', 'h')
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def set_acceleration(self, acceleration):
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"""
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Sets the acceleration of the motor. It is given in *velocity/s*. An
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acceleration of 10000 means, that every second the velocity is increased
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by 10000 (or about 30% duty cycle).
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For example: If the current velocity is 0 and you want to accelerate to a
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velocity of 16000 (about 50% duty cycle) in 10 seconds, you should set
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an acceleration of 1600.
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If acceleration is set to 0, there is no speed ramping, i.e. a new velocity
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is immediately given to the motor.
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The default acceleration is 10000.
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"""
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self.ipcon.send_request(self, BrickDC.FUNCTION_SET_ACCELERATION, (acceleration,), 'H', '')
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def get_acceleration(self):
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"""
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Returns the acceleration as set by :func:`SetAcceleration`.
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"""
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return self.ipcon.send_request(self, BrickDC.FUNCTION_GET_ACCELERATION, (), '', 'H')
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def set_pwm_frequency(self, frequency):
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"""
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Sets the frequency (in Hz) of the PWM with which the motor is driven.
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The possible range of the frequency is 1-20000Hz. Often a high frequency
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is less noisy and the motor runs smoother. However, with a low frequency
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there are less switches and therefore fewer switching losses. Also with
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most motors lower frequencies enable higher torque.
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If you have no idea what all this means, just ignore this function and use
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the default frequency, it will very likely work fine.
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The default frequency is 15 kHz.
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"""
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self.ipcon.send_request(self, BrickDC.FUNCTION_SET_PWM_FREQUENCY, (frequency,), 'H', '')
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def get_pwm_frequency(self):
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"""
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Returns the PWM frequency (in Hz) as set by :func:`SetPWMFrequency`.
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"""
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return self.ipcon.send_request(self, BrickDC.FUNCTION_GET_PWM_FREQUENCY, (), '', 'H')
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def full_brake(self):
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"""
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Executes an active full brake.
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.. warning::
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This function is for emergency purposes,
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where an immediate brake is necessary. Depending on the current velocity and
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the strength of the motor, a full brake can be quite violent.
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Call :func:`SetVelocity` with 0 if you just want to stop the motor.
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"""
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self.ipcon.send_request(self, BrickDC.FUNCTION_FULL_BRAKE, (), '', '')
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def get_stack_input_voltage(self):
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"""
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Returns the stack input voltage in mV. The stack input voltage is the
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voltage that is supplied via the stack, i.e. it is given by a
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Step-Down or Step-Up Power Supply.
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"""
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return self.ipcon.send_request(self, BrickDC.FUNCTION_GET_STACK_INPUT_VOLTAGE, (), '', 'H')
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def get_external_input_voltage(self):
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"""
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Returns the external input voltage in mV. The external input voltage is
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given via the black power input connector on the DC Brick.
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If there is an external input voltage and a stack input voltage, the motor
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will be driven by the external input voltage. If there is only a stack
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voltage present, the motor will be driven by this voltage.
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.. warning::
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This means, if you have a high stack voltage and a low external voltage,
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the motor will be driven with the low external voltage. If you then remove
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the external connection, it will immediately be driven by the high
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stack voltage.
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"""
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return self.ipcon.send_request(self, BrickDC.FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE, (), '', 'H')
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def get_current_consumption(self):
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"""
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Returns the current consumption of the motor in mA.
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"""
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return self.ipcon.send_request(self, BrickDC.FUNCTION_GET_CURRENT_CONSUMPTION, (), '', 'H')
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def enable(self):
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"""
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Enables the driver chip. The driver parameters can be configured (velocity,
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acceleration, etc) before it is enabled.
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"""
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self.ipcon.send_request(self, BrickDC.FUNCTION_ENABLE, (), '', '')
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def disable(self):
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"""
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Disables the driver chip. The configurations are kept (velocity,
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acceleration, etc) but the motor is not driven until it is enabled again.
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"""
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self.ipcon.send_request(self, BrickDC.FUNCTION_DISABLE, (), '', '')
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def is_enabled(self):
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"""
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Returns *true* if the driver chip is enabled, *false* otherwise.
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"""
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return self.ipcon.send_request(self, BrickDC.FUNCTION_IS_ENABLED, (), '', '?')
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def set_minimum_voltage(self, voltage):
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"""
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Sets the minimum voltage in mV, below which the :func:`UnderVoltage` callback
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is triggered. The minimum possible value that works with the DC Brick is 5V.
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You can use this function to detect the discharge of a battery that is used
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to drive the motor. If you have a fixed power supply, you likely do not need
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this functionality.
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The default value is 5V.
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"""
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self.ipcon.send_request(self, BrickDC.FUNCTION_SET_MINIMUM_VOLTAGE, (voltage,), 'H', '')
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def get_minimum_voltage(self):
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"""
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Returns the minimum voltage as set by :func:`SetMinimumVoltage`
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"""
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return self.ipcon.send_request(self, BrickDC.FUNCTION_GET_MINIMUM_VOLTAGE, (), '', 'H')
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def set_drive_mode(self, mode):
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"""
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Sets the drive mode. Possible modes are:
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* 0 = Drive/Brake
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* 1 = Drive/Coast
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These modes are different kinds of motor controls.
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In Drive/Brake mode, the motor is always either driving or braking. There
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is no freewheeling. Advantages are: A more linear correlation between
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PWM and velocity, more exact accelerations and the possibility to drive
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with slower velocities.
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In Drive/Coast mode, the motor is always either driving or freewheeling.
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Advantages are: Less current consumption and less demands on the motor and
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driver chip.
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The default value is 0 = Drive/Brake.
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"""
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self.ipcon.send_request(self, BrickDC.FUNCTION_SET_DRIVE_MODE, (mode,), 'B', '')
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def get_drive_mode(self):
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"""
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Returns the drive mode, as set by :func:`SetDriveMode`.
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"""
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return self.ipcon.send_request(self, BrickDC.FUNCTION_GET_DRIVE_MODE, (), '', 'B')
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def set_current_velocity_period(self, period):
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"""
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Sets a period in ms with which the :func:`CurrentVelocity` callback is triggered.
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A period of 0 turns the callback off.
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The default value is 0.
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"""
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self.ipcon.send_request(self, BrickDC.FUNCTION_SET_CURRENT_VELOCITY_PERIOD, (period,), 'H', '')
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def get_current_velocity_period(self):
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"""
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Returns the period as set by :func:`SetCurrentVelocityPeriod`.
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"""
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return self.ipcon.send_request(self, BrickDC.FUNCTION_GET_CURRENT_VELOCITY_PERIOD, (), '', 'H')
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def get_protocol1_bricklet_name(self, port):
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"""
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Returns the firmware and protocol version and the name of the Bricklet for a given port.
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This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins.
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.. versionadded:: 2.0.0~(Firmware)
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"""
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return GetProtocol1BrickletName(*self.ipcon.send_request(self, BrickDC.FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, (port,), 'c', 'B 3B 40s'))
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def get_chip_temperature(self):
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"""
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Returns the temperature in °C/10 as measured inside the microcontroller. The
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value returned is not the ambient temperature!
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The temperature is only proportional to the real temperature and it has an
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accuracy of +-15%. Practically it is only useful as an indicator for
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temperature changes.
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.. versionadded:: 1.1.3~(Firmware)
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"""
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return self.ipcon.send_request(self, BrickDC.FUNCTION_GET_CHIP_TEMPERATURE, (), '', 'h')
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def reset(self):
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"""
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Calling this function will reset the Brick. Calling this function
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on a Brick inside of a stack will reset the whole stack.
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After a reset you have to create new device objects,
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calling functions on the existing ones will result in
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undefined behavior!
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.. versionadded:: 1.1.3~(Firmware)
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"""
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self.ipcon.send_request(self, BrickDC.FUNCTION_RESET, (), '', '')
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def get_identity(self):
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"""
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Returns the UID, the UID where the Brick is connected to,
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the position, the hardware and firmware version as well as the
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device identifier.
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The position can be '0'-'8' (stack position).
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The device identifiers can be found :ref:`here <device_identifier>`.
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.. versionadded:: 2.0.0~(Firmware)
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"""
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return GetIdentity(*self.ipcon.send_request(self, BrickDC.FUNCTION_GET_IDENTITY, (), '', '8s 8s c 3B 3B H'))
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def register_callback(self, id, callback):
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"""
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Registers a callback with ID *id* to the function *callback*.
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"""
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self.registered_callbacks[id] = callback
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DC = BrickDC # for backward compatibility
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