smartpi 0.1.31__py3-none-any.whl → 0.1.33__py3-none-any.whl

smartpi/__init__.py

@@ -1,6 +1,8 @@
 from ._gui import gui
+from .base_driver import P1, P2, P3, P4, P5, P6, M1, M2, M3, M4, M5, M6
 
-__all__ = ["base_driver","gui","ultrasonic","touch_sensor","temperature","humidity","light_sensor","color_sensor","motor","servo","led","flash"]
+__all__ = ["base_driver","gui","ultrasonic","touch_sensor","temperature","humidity","light_sensor","color_sensor","motor","servo","led","flash",
+           "P1", "P2", "P3", "P4", "P5", "P6", "M1", "M2", "M3", "M4", "M5", "M6"]
 
-__version__ = "0.1.31"
+__version__ = "0.1.33"
 

smartpi/base_driver.py

@@ -2,7 +2,7 @@
 import serial,time,struct,threading,fcntl,os
 from typing import List, Optional
 from collections import deque
-from . import servo,motor,cw2015
+from . import servo,motor,cw2015,led,light_sensor
 
 # 创建全局线程锁
 serial_lock = threading.RLock()
@@ -49,6 +49,20 @@ MODE_CHANGE_L = 0X03
 SEND_CYCLE_H = 0X01
 SEND_CYCLE_L = 0X04
 
+P1 = 1
+P2 = 2
+P3 = 3
+P4 = 4
+P5 = 5
+P6 = 6
+
+M1 = 1
+M2 = 2
+M3 = 3
+M4 = 4
+M5 = 5
+M6 = 6
+
 frames_queue = deque()
 buffer = bytearray()
 HEADER = bytes.fromhex('86 AB')  # 帧头
@@ -119,7 +133,7 @@ def write_data(command_h: int, command_l: int, send_data: bytes= None) -> Option
 #        for x in send_bytes:
 #            print(f"{x:02X}", end=' ')
 #        print("\n")
-        
+        buffer.clear()
         ser.write(send_bytes)
                  
         
@@ -501,12 +515,7 @@ def smartpi_init():
     fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程
     uart3_init()
     fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
-    P_port_init(1)
-    P_port_init(2)
-    P_port_init(3)
-    P_port_init(4)
-    P_port_init(5)
-    P_port_init(6)
+        
     servo.set_init(1)
     servo.set_init(2)
     servo.set_init(3)
@@ -530,7 +539,26 @@ def smartpi_init():
     motor.reset_motor_encoder(3)
     motor.reset_motor_encoder(4)
     motor.reset_motor_encoder(5)
-    motor.reset_motor_encoder(6)
+    motor.reset_motor_encoder(6)       
+    light_sensor.turn_off(1)
+    light_sensor.turn_off(2)
+    light_sensor.turn_off(3)
+    light_sensor.turn_off(4)
+    light_sensor.turn_off(5)
+    light_sensor.turn_off(6)
+    led.set_color(1,0)
+    led.set_color(2,0)
+    led.set_color(3,0)
+    led.set_color(4,0)
+    led.set_color(5,0)
+    led.set_color(6,0)
+    P_port_init(1)
+    P_port_init(2)
+    P_port_init(3)
+    P_port_init(4)
+    P_port_init(5)
+    P_port_init(6)
+    
     time.sleep(0.1)
     serial_lock.release()     
     time.sleep(0.1)   

smartpi/led.py

@@ -9,9 +9,10 @@ def set_color(port:bytes,command:bytes) -> Optional[bytes]:
     color_lamp_str=[0xA0, 0x05, 0x00, 0xBE]
     color_lamp_str[0]=0XA0+port
     color_lamp_str[2]=command
-    response = base_driver.single_operate_sensor(color_lamp_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(color_lamp_str,0)
+    base_driver.write_data(0X01, 0X02, color_lamp_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         

smartpi/light_sensor.py

@@ -3,6 +3,18 @@ import time
 from typing import List, Optional
 from smartpi import base_driver
 
+#����ֵ��ȡ port:����P�˿ڣ�  �������أ���ֵ����; ��ȡ����-1  
+def turn_off(port:bytes) -> Optional[bytes]:
+    light_str=[0xA0, 0x02, 0x00, 0xBE]
+    light_str[0]=0XA0+port
+    light_str[2]=0x03
+#    response = base_driver.single_operate_sensor(light_str,0) 
+#    base_driver.write_data(0X01, 0X02, light_str)     
+#    if response == None:
+#        return None
+#    else:
+    return 0
+
 #����ֵ��ȡ port:����P�˿ڣ�  �������أ���ֵ����; ��ȡ����-1  
 def get_value(port:bytes) -> Optional[bytes]:
     light_str=[0xA0, 0x02, 0x00, 0xBE]

smartpi/motor.py

@@ -21,22 +21,24 @@ def get_motor_encoder(port:bytes) -> Optional[bytes]:
 def reset_motor_encoder(port:bytes) -> Optional[bytes]:
     motor_str=[0xA0, 0x01, 0x03, 0xBE]           
     motor_str[0]=0XA0+port       
-    response = base_driver.single_operate_sensor(motor_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(motor_str,0)
+    base_driver.write_data(0X01, 0X02, motor_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #���﷽����� port:����M�˿ڣ�dir:0��1
 def set_motor_direction(port:bytes,direc:bytes) -> Optional[bytes]:
     motor_str=[0xA0, 0x01, 0x06, 0x71, 0x00, 0xBE]           
     motor_str[0]=0XA0+port
     motor_str[4]=direc
-    response = base_driver.single_operate_sensor(motor_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(motor_str,0)
+    base_driver.write_data(0X01, 0X02, motor_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #�����ٶ�ת�� port:����M�˿ڣ�speed:-100~100
 def set_motor(port:bytes,speed:int) -> Optional[bytes]:
@@ -53,21 +55,23 @@ def set_motor(port:bytes,speed:int) -> Optional[bytes]:
         
     motor_str[4]=m_par
         
-    response = base_driver.single_operate_sensor(motor_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(motor_str,0)
+    base_driver.write_data(0X01, 0X02, motor_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #����ֹͣ port:����M�˿ڣ�
 def set_motor_stop(port:bytes) -> Optional[bytes]:
     motor_str=[0xA0, 0x01, 0x0B, 0xBE]           
     motor_str[0]=0XA0+port
-    response = base_driver.single_operate_sensor(motor_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(motor_str,0)
+    base_driver.write_data(0X01, 0X02, motor_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #����Ƕȿ��� port:����M�˿ڣ�speed:-100~100��degree:0~65535
 def set_motor_angle(port:bytes,speed:int,degree:int) -> Optional[bytes]:
@@ -86,11 +90,12 @@ def set_motor_angle(port:bytes,speed:int,degree:int) -> Optional[bytes]:
     motor_str[4]=m_par
     motor_str[6]=degree//256
     motor_str[7]=degree%256
-    response = base_driver.single_operate_sensor(motor_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(motor_str,0)
+    base_driver.write_data(0X01, 0X02, motor_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #���ﶨʱת�� port:����M�˿ڣ�speed:-100~100��second:1~256
 def set_motor_second(port:bytes,speed:int,second:float) -> Optional[bytes]:
@@ -116,11 +121,12 @@ def set_motor_second(port:bytes,speed:int,second:float) -> Optional[bytes]:
     motor_str[8]=byte_array[2]
     motor_str[9]=byte_array[3]
     
-    response = base_driver.single_operate_sensor(motor_str,second)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(motor_str,0)
+    base_driver.write_data(0X01, 0X02, motor_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
 
 #���ﶨ��ת�� port:����M�˿ڣ�speed:-100~100
 def set_motor_constspeed(port:bytes,speed:int) -> Optional[bytes]:
@@ -138,11 +144,12 @@ def set_motor_constspeed(port:bytes,speed:int) -> Optional[bytes]:
         
     motor_str[4]=m_par
     
-    response = base_driver.single_operate_sensor(motor_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(motor_str,0)
+    base_driver.write_data(0X01, 0X02, motor_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #�����ٶȶ�ȡ port:����M�˿ڣ�
 def get_motor_speed(port:bytes) -> Optional[bytes]:

smartpi/servo.py

@@ -3,17 +3,17 @@ import time
 from typing import List, Optional
 from smartpi import base_driver
 
-
 #С������� port:����P�˿ڣ�angle:�Ƕ�0~270��
 def steer_angle(port:bytes,angle:bytes) -> Optional[bytes]:
     servo_str=[0xA0, 0x0E, 0x01, 0x71, 0x00, 0xBE]
     servo_str[0]=0XA0+port
     servo_str[4]=angle
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #С�����ʱ���� port:����P�˿ڣ�angle:�Ƕ�0~270��second:1~256
 def steer_angle_delay(port:bytes,angle:bytes,second:bytes) -> Optional[bytes]:
@@ -22,22 +22,24 @@ def steer_angle_delay(port:bytes,angle:bytes,second:bytes) -> Optional[bytes]:
     servo_str[4]=angle//256
     servo_str[5]=angle%256
     servo_str[7]=second
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #���ֶ������ת������(���ԽǶ�) port:����P�˿ڣ�dir:0:����Խ0��;1:��̾�����ת;2:˳ʱ����ת;3:��ʱ����ת
 def set_dir(port:bytes,dir:bytes) -> Optional[bytes]:
     servo_str=[0xA0, 0x24, 0x01, 0x71, 0x00, 0xBE]
     servo_str[0]=0XA0+port
     servo_str[4]=dir
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #BE-9528���ֶ�����ٶ�ת���Ƕ� port:����P�˿ڣ�angle:�Ƕ�(0~360)��speed:�ٶ�(0~100)��
 def set_angle_speed(port:bytes,angle:bytes,speed:bytes) -> Optional[bytes]:
@@ -46,11 +48,14 @@ def set_angle_speed(port:bytes,angle:bytes,speed:bytes) -> Optional[bytes]:
     servo_str[4]=angle//256
     servo_str[5]=angle%256
     servo_str[7]=speed
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+    #response = base_driver.single_operate_sensor(servo_str,0)
+    time.sleep(0.001)
+    
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #���ֶ��ת�����Ƕ���ʱʱ�� port:����P�˿ڣ�angle:�Ƕ�(0~360)��ms:��ʱʱ��(0~65535)��
 def set_angle_ms(port:bytes,angle:bytes,ms:int) -> Optional[bytes]:
@@ -60,21 +65,23 @@ def set_angle_ms(port:bytes,angle:bytes,ms:int) -> Optional[bytes]:
     servo_str[5]=angle%256
     servo_str[7]=ms//256
     servo_str[8]=ms%256
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
 
 #���ֶ����λ port:����P�˿ڣ�
 def set_init(port:bytes) -> Optional[bytes]:
     servo_str=[0xA0, 0x12, 0x01, 0xBE]
     servo_str[0]=0XA0+port
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #��ȡ���ֶ���Ƕ� port:����P�˿ڣ�
 def get_angle(port:bytes) -> Optional[bytes]:
@@ -102,11 +109,12 @@ def set_speed(port:bytes,speed:int) -> Optional[bytes]:
         m_par=256+speed
         
     servo_str[4]=m_par
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0      
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0      
         
 #���ֶ������ת�� port:����P�˿ڣ�code:����(0~65535)��speed:�ٶ�(-100~100)��
 def set_code_speed(port:bytes,code:int,speed:int) -> Optional[bytes]:
@@ -126,21 +134,23 @@ def set_code_speed(port:bytes,code:int,speed:int) -> Optional[bytes]:
         m_par=256+speed      
     servo_str[7]=m_par
 
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0  
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0  
 
 #���ֶ������ֵ���� port:����P�˿ڣ�
 def reset_encode(port:bytes) -> Optional[bytes]:
     servo_str=[0xA0, 0x16, 0x01, 0xBE]
     servo_str[0]=0XA0+port
-    response = base_driver.single_operate_sensor(servo_str,0)
-    if response == None:
-        return None
-    else:
-        return 0
+#    response = base_driver.single_operate_sensor(servo_str,0)
+    base_driver.write_data(0X01, 0X02, servo_str)
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #��ȡ���ֶ������ֵ port:����P�˿ڣ�
 def get_encoder(port:bytes) -> Optional[bytes]:

{smartpi-0.1.31.dist-info → smartpi-0.1.33.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: smartpi
-Version: 0.1.31
+Version: 0.1.33
 Summary: A library use for H2-RCU
 Author: ZMROBO
 Classifier: Programming Language :: Python :: 3

{smartpi-0.1.31.dist-info → smartpi-0.1.33.dist-info}/RECORD

@@ -1,20 +1,20 @@
-smartpi/__init__.py,sha256=Mx0R3q6LJmVf3XdhWEIDW7hj_vsJq0V5t3jS2XeErj8,199
+smartpi/__init__.py,sha256=hzmpURQ8Ko_rxDGFxACuIIKwt-nWgOkPAN_pM4T08oc,356
 smartpi/_gui.py,sha256=ij-6HZAEIwdy_hvU7f0NkyQjx_-eephijlKbGUhf8Uo,2177
-smartpi/base_driver.py,sha256=P029DleVPCTYTWi0ckwTwdfBNzzRrb13mGFdxIWCSYQ,20131
+smartpi/base_driver.py,sha256=WtRBSkjcOHikU402lU1cBSVlRHhyWGZMll_zffg2F2U,20609
 smartpi/color_sensor.py,sha256=YXJjknYjp7teTZsHYZRAWgi73CH0MhBp1go9y0Inxyo,498
 smartpi/cw2015.py,sha256=1lAF-pi_ye_ya1AZQS1sjbgsDf7MThO5IAskKsNGBzA,5695
 smartpi/flash.py,sha256=-pUqg6FSVoBiLFKqrG9B4dFqn8lICnQsSPJr_MtZLIU,4132
 smartpi/humidity.py,sha256=nZwiBtMWKNipVM83ymajZACPHxkC2vUJjDMmCOPN9lw,499
-smartpi/led.py,sha256=flvN7EJfP6VDTSiC93w1uR8pRxcZD9w2vLXA1GbJTo8,538
-smartpi/light_sensor.py,sha256=MayyVikWcXQfjeZrtYRnwYgHBDzu2g-mfJLpdd29EG8,1852
-smartpi/motor.py,sha256=CS-a1AxKeLFQNxsBpfThWE7lI3ZC27OZthXPfgk8vro,4792
+smartpi/led.py,sha256=HXebd7mRO6HUjO2Xc2LBgJlAew0-IAAKpvcmVRhdGcA,594
+smartpi/light_sensor.py,sha256=oG6hHr1Tb9Xcv-Y-OjhkED5DS1u82F-kduHKAiM3B5Q,2256
+smartpi/motor.py,sha256=HTH0JqZ0d8D2HRdQ6UT9wwqBkyqErq6QaMuS_ZsDq9A,5144
 smartpi/move.py,sha256=mYw5li1qQe97845cqclMksuaKOL9n_0E0n9652EIMcI,6046
-smartpi/servo.py,sha256=SN4Md57MNDBBlu2vCrzby04IDQiLNqdwgvS4dCh0q8E,5057
+smartpi/servo.py,sha256=I8FJ6mYhihx8DJ3pX7-kEy1SX59zW34Eb3UtwXYhssc,5543
 smartpi/temperature.py,sha256=VT79CYA41q1d_4AM-Y0eIMeIw7AtCkSXjWVws6Yx5yE,462
 smartpi/touch_sensor.py,sha256=P57RRQlqY0KexpMi-ydqwF5albOKCBOGb0Rb6zeVTqk,440
 smartpi/trace.py,sha256=tut7BMbq87ShaR5eNuv7PZtAEz9DS5_BDf0_muIZ-tQ,4577
 smartpi/ultrasonic.py,sha256=kmVpUfvE1oHoqgv92ZU6Fi-sO6DSwm10ssKsImNeOkY,624
-smartpi-0.1.31.dist-info/METADATA,sha256=cWc5QT8cfatmdvFj6TYtDRYZf41lR7NlktAgu9Z-DM0,399
-smartpi-0.1.31.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
-smartpi-0.1.31.dist-info/top_level.txt,sha256=PoLhUCmWAiQUg5UeN2fS-Y1iQyBbF2rdUlizXtpHGRQ,8
-smartpi-0.1.31.dist-info/RECORD,,
+smartpi-0.1.33.dist-info/METADATA,sha256=f_TlNyhxldaAqYWBEtf93LSvvsFswzKC3wEhbwski2Y,399
+smartpi-0.1.33.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+smartpi-0.1.33.dist-info/top_level.txt,sha256=PoLhUCmWAiQUg5UeN2fS-Y1iQyBbF2rdUlizXtpHGRQ,8
+smartpi-0.1.33.dist-info/RECORD,,