pyaidrone 1.2__py3-none-any.whl → 1.3__py3-none-any.whl

pyaidrone/aiDrone.py

@@ -32,7 +32,25 @@ class AIDrone(Parse,  Packet):
                     self.receiveCallback(packet)
             self.serial.write(self.makepkt.getPacket())
 
+    def requestSensorData(self):
+        self.makepkt.makePacket(8, bytes([0x10]))
+        self.serial.write(self.makepkt.getPacket())
+    
+    def get_gyro(self):
+        return self.sensors["gyro"]
+
+    def get_acceleration(self):
+        return self.sensors["acceleration"]
 
+    def get_altitude(self):
+        return self.sensors["altitude"]
+
+    def get_position(self):
+        return self.sensors["position"]
+        
+    def get_tof(self):
+        return self.sensors["tof"]
+        
     def Open(self, portName = "None"):
         if eq(portName, "None"):
             nodes = comports()
@@ -132,11 +150,12 @@ class AIDrone(Parse,  Packet):
     
 	
     def rotation(self, rot=90):
-        self.rot += rot
+        self.rot += rot               
         data = self.rot.to_bytes(2, byteorder="little", signed=True)
         self.makepkt.makePacket(10, data)
 
 
+
     def motor(self, what, speed):
         speed = DefLib.constrain(speed, 100, 0)
         data = speed.to_bytes(2, byteorder="little", signed=True)
@@ -147,5 +166,27 @@ class AIDrone(Parse,  Packet):
     def emergency(self):
         self.setOption(0x00)
         self.serial.write(self.makepkt.getPacket())
+        
+    def motor(self, motor_id, speed):
+    """
+    모터 속도를 0~100 범위에서 설정합니다.
+
+    :param motor_id: 제어할 모터의 인덱스 (0~3은 개별 모터, 4는 모든 모터)
+    :param speed: 모터 속도 (0 ~ 100)
+    """
+    speed = max(0, min(speed, 100))  # 속도를 0~100 범위로 제한
+    scaled_speed = speed * 10  # 내부적으로 0~1000 범위로 변환
+    data = scaled_speed.to_bytes(2, byteorder="little", signed=False)
+
+    # 모든 모터를 동시에 제어
+    if motor_id == 4:
+        self.makepkt.makePacket(12, data)  # 모든 모터의 속도를 설정 (THR 제어)
+    else:
+        # 개별 모터 제어
+        self.makepkt.makePacket(6 + (motor_id * 2), data)
+
+    # 패킷을 시리얼 포트를 통해 전송
+    self.serial.write(self.makepkt.getPacket())
+
 
 

pyaidrone/parse.py

@@ -8,6 +8,7 @@ class Parse:
         self.type = 0
         self.packetLen = 20 
         self.headMatchCnt = 0
+        self.sensors = {"gyro":(0,0), "acceleration":(0,0), "altitude": (0,0), "position": (0, 0), "tof": 0}
         if self.model == AIDRONE:
             self.head = (0x26, 0xA8, 0x14, 0xA0)
         
@@ -40,6 +41,18 @@ class Parse:
                 self.offset = 0
                 chksum = DefLib.checksum(self.packet)
                 if chksum == self.packet[5]:
+                    self.parseSensorData(slef.packet)
                     return self.packet
         return "None"
 
+    def parseSensorData(self, packet):
+        if packet[3] == 0xA2:
+            self.sensors["gyro"] = (int.from_bytes(packet[9:11], "little", signed=True),
+                                    int.from_bytes(packet[11:13], "little", signed=True))
+            self.sensors["acceleration"] = (int.from_bytes(packet[13:15], "little", signed=True),
+                                            int.from_bytes(packet[15:17], "little", signed=True))
+            self.sensors["altitude"] = int.from_bytes(packet[17:19], "little", signed=True)
+            self.sensors["position"] = (int.from_bytes(packet[19:21], "little", signed=True),
+                                        int.from_bytes(packet[21:23], "little", signed=True))
+            self.sensors["tof"] = int.from_bytes(packet[23:25], "little", signed=True)    
+            

{pyaidrone-1.2.dist-info → pyaidrone-1.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pyaidrone
-Version: 1.2
+Version: 1.3
 Summary: Library for AIDrone Products
 Home-page: http://www.ir-brain.com
 Author: IR-Brain

pyaidrone-1.3.dist-info/RECORD

@@ -0,0 +1,10 @@
+pyaidrone/__init__.py,sha256=LTT-ZpL6vrKdC5t0O71pJnk3zMhDf1eXkNmoLoIRupo,19
+pyaidrone/aiDrone.py,sha256=bOCzuwNWxlJWVIzCe8lx58hW40FRuOa7iFwN4eQXTMY,6086
+pyaidrone/deflib.py,sha256=ZeA_qfnhuXEIhJHUMNSKkCkBEaWuoIS5X7ZqjTo9Sx4,735
+pyaidrone/ikeyevent.py,sha256=ZpRiFu71GhW2XQgyiXzCvb2FYoLU8bH4fVeaKoGEMqM,2866
+pyaidrone/packet.py,sha256=h02k9dMUhP4oyEBaDuJ9L9HdutfZE_znreBmPOfTLog,813
+pyaidrone/parse.py,sha256=oVZJKSYZzjBo3qtd6z__nLCYBiAL6VwnHbyNRUIiEfE,2355
+pyaidrone-1.3.dist-info/METADATA,sha256=jIsz-pA3bjav6eQplhmR4N365jOWoZxXSRMURwpKmhk,593
+pyaidrone-1.3.dist-info/WHEEL,sha256=G16H4A3IeoQmnOrYV4ueZGKSjhipXx8zc8nu9FGlvMA,92
+pyaidrone-1.3.dist-info/top_level.txt,sha256=YLnJwG3F2TdfFcg6r7jcx02fekcXHF_GC0nv12hJGT8,10
+pyaidrone-1.3.dist-info/RECORD,,

pyaidrone-1.2.dist-info/RECORD

@@ -1,10 +0,0 @@
-pyaidrone/__init__.py,sha256=LTT-ZpL6vrKdC5t0O71pJnk3zMhDf1eXkNmoLoIRupo,19
-pyaidrone/aiDrone.py,sha256=OawlhlEHgG3wRjkb54p9OBceX2D-BimvVGjdUiwABNg,4713
-pyaidrone/deflib.py,sha256=ZeA_qfnhuXEIhJHUMNSKkCkBEaWuoIS5X7ZqjTo9Sx4,735
-pyaidrone/ikeyevent.py,sha256=ZpRiFu71GhW2XQgyiXzCvb2FYoLU8bH4fVeaKoGEMqM,2866
-pyaidrone/packet.py,sha256=h02k9dMUhP4oyEBaDuJ9L9HdutfZE_znreBmPOfTLog,813
-pyaidrone/parse.py,sha256=5kU1JwQwUXTJ201ewRnnzpwDyZ0jjstHNTKQvku9svA,1364
-pyaidrone-1.2.dist-info/METADATA,sha256=8l1JfRPvK4--eqNNj-zYoxj9VAuYKLtRUSVGUTxFfUU,593
-pyaidrone-1.2.dist-info/WHEEL,sha256=G16H4A3IeoQmnOrYV4ueZGKSjhipXx8zc8nu9FGlvMA,92
-pyaidrone-1.2.dist-info/top_level.txt,sha256=YLnJwG3F2TdfFcg6r7jcx02fekcXHF_GC0nv12hJGT8,10
-pyaidrone-1.2.dist-info/RECORD,,