smartpi 0.1.34__py3-none-any.whl → 0.1.35__py3-none-any.whl

smartpi/__init__.py

@@ -4,5 +4,5 @@ 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",
            "P1", "P2", "P3", "P4", "P5", "P6", "M1", "M2", "M3", "M4", "M5", "M6"]
 
-__version__ = "0.1.34"
+__version__ = "0.1.35"
 

smartpi/base_driver.py

@@ -415,6 +415,7 @@ def single_operate_sensor(op_struct: bytes, block_time: float) -> Optional[bytes
 def P_port_init(port:bytes) -> Optional[bytes]:
     servo_str=[0xA0, 0x0F, 0x00, 0xBE]
     servo_str[0]=0XA0+port
+    time.sleep(0.005)
     response = single_operate_sensor(servo_str,0)
     if response:
         return 0

smartpi/color_sensor.py

@@ -8,6 +8,7 @@ def get_value(port:bytes) -> Optional[bytes]:
     color_str=[0xA0, 0x04, 0x00, 0xBE]
     color_str[0]=0XA0+port
     color_str[2]=1
+    time.sleep(0.005)
     response = base_driver.single_operate_sensor(color_str,0)        
     if response == None:
         return None

smartpi/humidity.py

@@ -9,6 +9,7 @@ def get_value(port:bytes) -> Optional[bytes]:
     humi_str=[0XA0, 0X0C, 0X01, 0X71, 0X00, 0XBE]
     humi_str[0]=0XA0+port
     humi_str[4]=0X01 
+    time.sleep(0.005)
     response = base_driver.single_operate_sensor(humi_str,0)
     if response == None:
         return None

smartpi/led.py

@@ -10,6 +10,7 @@ def set_color(port:bytes,command:bytes) -> Optional[bytes]:
     color_lamp_str[0]=0XA0+port
     color_lamp_str[2]=command
 #    response = base_driver.single_operate_sensor(color_lamp_str,0)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, color_lamp_str)
 #    if response == None:
 #        return None

smartpi/light_sensor.py

@@ -9,7 +9,7 @@ def turn_off(port:bytes) -> Optional[bytes]:
     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)     
+    base_driver.write_data(0X01, 0X02, light_str)     
 #    if response == None:
 #        return None
 #    else:
@@ -20,6 +20,7 @@ def get_value(port:bytes) -> Optional[bytes]:
     light_str=[0xA0, 0x02, 0x00, 0xBE]
     light_str[0]=0XA0+port
     light_str[2]=0x01
+    time.sleep(0.005)
     response = base_driver.single_operate_sensor(light_str,0)       
     if response == None:
         return None
@@ -35,17 +36,20 @@ def set_threshold(port:bytes,threshold:int) -> Optional[bytes]:
     light_str[2]=0x04
     light_str[4]=threshold//256
     light_str[5]=threshold%256
-    response = base_driver.single_operate_sensor(light_str,0)       
-    if response == None:
-        return None
-    else:
-        return 0
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, light_str)
+#    response = base_driver.single_operate_sensor(light_str,0)       
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #�����ֵ��ȡ port:����P�˿ڣ�  
 def get_threshold(port:bytes) -> Optional[bytes]:
     light_str=[0xA0, 0x02, 0x00, 0xBE]
     light_str[0]=0XA0+port
     light_str[2]=0x05
+    time.sleep(0.005)
     response = base_driver.single_operate_sensor(light_str,0)       
     if response == None:
         return None
@@ -59,6 +63,7 @@ def get_bool_data(port:bytes) -> Optional[bytes]:
     light_str=[0xA0, 0x02, 0x00, 0xBE]
     light_str[0]=0XA0+port
     light_str[2]=0x06
+    time.sleep(0.005)
     response = base_driver.single_operate_sensor(light_str,0)       
     if response == None:
         return None

smartpi/motor.py

@@ -8,7 +8,8 @@ from smartpi import base_driver
 #��������ȡ port:����M�˿ڣ�
 def get_motor_encoder(port:bytes) -> Optional[bytes]:
     motor_str=[0xA0, 0x01, 0x01, 0xBE]           
-    motor_str[0]=0XA0+port       
+    motor_str[0]=0XA0+port  
+    time.sleep(0.005)     
     response = base_driver.single_operate_sensor(motor_str,0)        
     if response == None:
         return None
@@ -22,6 +23,7 @@ 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)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, motor_str)
 #    if response == None:
 #        return None
@@ -34,6 +36,7 @@ def set_motor_direction(port:bytes,direc:bytes) -> Optional[bytes]:
     motor_str[0]=0XA0+port
     motor_str[4]=direc
 #    response = base_driver.single_operate_sensor(motor_str,0)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, motor_str)
 #    if response == None:
 #        return None
@@ -56,6 +59,7 @@ def set_motor(port:bytes,speed:int) -> Optional[bytes]:
     motor_str[4]=m_par
         
 #    response = base_driver.single_operate_sensor(motor_str,0)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, motor_str)
 #    if response == None:
 #        return None
@@ -67,6 +71,7 @@ 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)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, motor_str)
 #    if response == None:
 #        return None
@@ -91,6 +96,7 @@ def set_motor_angle(port:bytes,speed:int,degree:int) -> Optional[bytes]:
     motor_str[6]=degree//256
     motor_str[7]=degree%256
 #    response = base_driver.single_operate_sensor(motor_str,0)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, motor_str)
 #    if response == None:
 #        return None
@@ -122,6 +128,7 @@ def set_motor_second(port:bytes,speed:int,second:float) -> Optional[bytes]:
     motor_str[9]=byte_array[3]
     
 #    response = base_driver.single_operate_sensor(motor_str,0)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, motor_str)
 #    if response == None:
 #        return None
@@ -145,6 +152,7 @@ def set_motor_constspeed(port:bytes,speed:int) -> Optional[bytes]:
     motor_str[4]=m_par
     
 #    response = base_driver.single_operate_sensor(motor_str,0)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, motor_str)
 #    if response == None:
 #        return None
@@ -154,7 +162,8 @@ def set_motor_constspeed(port:bytes,speed:int) -> Optional[bytes]:
 #�����ٶȶ�ȡ port:����M�˿ڣ�
 def get_motor_speed(port:bytes) -> Optional[bytes]:
     motor_str=[0xA0, 0x01, 0x10, 0xBE]           
-    motor_str[0]=0XA0+port       
+    motor_str[0]=0XA0+port 
+    time.sleep(0.005)      
     response = base_driver.single_operate_sensor(motor_str,0)        
     if response == None:
         return None

smartpi/move.py

@@ -19,12 +19,13 @@ def run_second(dir:bytes,speed:bytes,second:bytes) -> Optional[bytes]:
             
     move_str[6]=speed
     move_str[8]=second      
-             
-    response = base_driver.single_operate_sensor(move_str,0)        
-    if response == None:
-        return None
-    else:
-        return 0
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #以速度移动x度：dir:方向forward、backward、turnright、turnleft：speed:0~100：angle:65535
 def run_angle(dir:bytes,speed:bytes,angle:int) -> Optional[bytes]:
@@ -43,11 +44,13 @@ def run_angle(dir:bytes,speed:bytes,angle:int) -> Optional[bytes]:
     move_str[8]=angle//256
     move_str[9]=angle%256      
              
-    response = base_driver.single_operate_sensor(move_str,0)        
-    if response == None:
-        return None
-    else:
-        return 0
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #以速度移动：dir:方向forward、backward、turnright、turnleft；speed:0~100；
 def run(dir:bytes,speed:bytes) -> Optional[bytes]:
@@ -64,11 +67,13 @@ def run(dir:bytes,speed:bytes) -> Optional[bytes]:
         
     move_str[6]=speed      
              
-    response = base_driver.single_operate_sensor(move_str,0)        
-    if response == None:
-        return None
-    else:
-        return 0
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #设置左右轮速度移动x秒：Lspeed:-100~100；Rspeed:-100~100；second:1~255
 def run_speed_second(Lspeed:int,Rspeed:int,second:bytes) -> Optional[bytes]:
@@ -98,11 +103,13 @@ def run_speed_second(Lspeed:int,Rspeed:int,second:bytes) -> Optional[bytes]:
     
     move_str[8]=second
              
-    response = base_driver.single_operate_sensor(move_str,0)        
-    if response == None:
-        return None
-    else:
-        return 0
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #设置左右轮速度移动：Lspeed:-100~100；Rspeed:-100~100；
 def run_speed(Lspeed:int,Rspeed:int) -> Optional[bytes]:
@@ -130,11 +137,13 @@ def run_speed(Lspeed:int,Rspeed:int) -> Optional[bytes]:
         
     move_str[4]=m_par
              
-    response = base_driver.single_operate_sensor(move_str,0)        
-    if response == None:
-        return None
-    else:
-        return 0
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #设置左右轮功率移动：Lpower:0~100；Rpower:0~100；
 def run_power(Lpower:bytes,Rpower:bytes) -> Optional[bytes]:
@@ -143,11 +152,13 @@ def run_power(Lpower:bytes,Rpower:bytes) -> Optional[bytes]:
     move_str[4]=Rpower       
     move_str[6]=Lpower
              
-    response = base_driver.single_operate_sensor(move_str,0)        
-    if response == None:
-        return None
-    else:
-        return 0
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #设置最大功率：M1:0~100；M2:0~100；M3:0~100；M4:0~100；M5:0~100；M6:0~100；
 def set_maxpower(M1:bytes,M2:bytes,M3:bytes,M4:bytes,M5:bytes,M6:bytes) -> Optional[bytes]:
@@ -160,21 +171,25 @@ def set_maxpower(M1:bytes,M2:bytes,M3:bytes,M4:bytes,M5:bytes,M6:bytes) -> Optio
     move_str[12]=M5       
     move_str[14]=M6
              
-    response = base_driver.single_operate_sensor(move_str,0)        
-    if response == None:
-        return None
-    else:
-        return 0
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #马达停止
 def stop() -> Optional[bytes]:
     move_str=[0xA0, 0x01, 0x0A, 0xBE]   
              
-    response = base_driver.single_operate_sensor(move_str,0)        
-    if response == None:
-        return None
-    else:
-        return 0
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #设置左右轮方向：Lmotor:1~6；Rmotor:1~6；state: no_reversal、all_reversal、left_reversal、right_reversal
 def set_move_init(Lmotor:bytes,Rmotor:bytes,state:bytes) -> Optional[bytes]:
@@ -192,10 +207,12 @@ def set_move_init(Lmotor:bytes,Rmotor:bytes,state:bytes) -> Optional[bytes]:
     move_str[6]=Rmotor
     move_str[8]=Lmotor          
 
-    response = base_driver.single_operate_sensor(move_str,0)        
-    if response == None:
-        return None
-    else:
-        return 0        
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, move_str)
+#    response = base_driver.single_operate_sensor(move_str,0)        
+#    if response == None:
+#        return None
+#    else:
+    return 0        
         
         

smartpi/servo.py

@@ -9,6 +9,7 @@ def steer_angle(port:bytes,angle:bytes) -> Optional[bytes]:
     servo_str[0]=0XA0+port
     servo_str[4]=angle
 #    response = base_driver.single_operate_sensor(servo_str,0)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, servo_str)
 #    if response == None:
 #        return None
@@ -23,6 +24,7 @@ def steer_angle_delay(port:bytes,angle:bytes,second:bytes) -> Optional[bytes]:
     servo_str[5]=angle%256
     servo_str[7]=second
 #    response = base_driver.single_operate_sensor(servo_str,0)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, servo_str)
 #    if response == None:
 #        return None
@@ -35,6 +37,7 @@ def set_dir(port:bytes,dir:bytes) -> Optional[bytes]:
     servo_str[0]=0XA0+port
     servo_str[4]=dir
 #    response = base_driver.single_operate_sensor(servo_str,0)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, servo_str)
 #    if response == None:
 #        return None
@@ -65,6 +68,7 @@ def set_angle_ms(port:bytes,angle:bytes,ms:int) -> Optional[bytes]:
     servo_str[7]=ms//256
     servo_str[8]=ms%256
 #    response = base_driver.single_operate_sensor(servo_str,0)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, servo_str)
 #    if response == None:
 #        return None
@@ -76,6 +80,7 @@ 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)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, servo_str)
 #    if response == None:
 #        return None
@@ -86,6 +91,7 @@ def set_init(port:bytes) -> Optional[bytes]:
 def get_angle(port:bytes) -> Optional[bytes]:
     servo_str=[0xA0, 0x13, 0x01, 0xBE]
     servo_str[0]=0XA0+port
+    time.sleep(0.005)
     response = base_driver.single_operate_sensor(servo_str,0)       
     if response == None:
         return None
@@ -109,6 +115,7 @@ def set_speed(port:bytes,speed:int) -> Optional[bytes]:
         
     servo_str[4]=m_par
 #    response = base_driver.single_operate_sensor(servo_str,0)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, servo_str)
 #    if response == None:
 #        return None
@@ -134,6 +141,7 @@ def set_code_speed(port:bytes,code:int,speed:int) -> Optional[bytes]:
     servo_str[7]=m_par
 
 #    response = base_driver.single_operate_sensor(servo_str,0)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, servo_str)
 #    if response == None:
 #        return None
@@ -145,6 +153,7 @@ 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)
+    time.sleep(0.005)
     base_driver.write_data(0X01, 0X02, servo_str)
 #    if response == None:
 #        return None
@@ -155,6 +164,7 @@ def reset_encode(port:bytes) -> Optional[bytes]:
 def get_encoder(port:bytes) -> Optional[bytes]:
     servo_str=[0xA0, 0x17, 0x01, 0xBE]
     servo_str[0]=0XA0+port
+    time.sleep(0.005)
     response = base_driver.single_operate_sensor(servo_str,0)        
     if response == None:
         return None

smartpi/temperature.py

@@ -9,6 +9,7 @@ def get_value(port:bytes) -> Optional[bytes]:
     temp_str=[0XA0, 0X0C, 0X01, 0X71, 0X00, 0XBE]
     temp_str[0]=0XA0+port
     temp_str[4]=0 
+    time.sleep(0.005)
     response = base_driver.single_operate_sensor(temp_str,0)
     if response == None:
         return None

smartpi/touch_sensor.py

@@ -7,6 +7,7 @@ from smartpi import base_driver
 def get_value(port:bytes) -> Optional[bytes]:
     read_sw_str=[0xA0, 0x03, 0x01, 0xBE]
     read_sw_str[0]=0XA0+port   
+    time.sleep(0.005)
     response = base_driver.single_operate_sensor(read_sw_str,0)
     if response == None:
         return None

smartpi/trace.py

@@ -27,6 +27,7 @@ def get_chn_data(port:bytes, chn:bytes) -> Optional[bytes]:
     trace_str=[0xA0, 0x18, 0x01, 0x71, 0x00, 0xBE]
     trace_str[0]=0XA0+port
     trace_str[4]=chn
+    time.sleep(0.005)
     response = base_driver.single_operate_sensor(trace_str,0)       
     if response == None:
         return None
@@ -44,28 +45,33 @@ def set_chn_color(port:bytes, color1:bytes, color2:bytes, color3:bytes, color4:b
     trace_str[12]=color5
     trace_str[14]=color6
     trace_str[16]=color7
-    response = base_driver.single_operate_sensor(trace_str,0)       
-    if response == None:
-        return None
-    else:
-        return response[4]
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, trace_str)
+#    response = base_driver.single_operate_sensor(trace_str,0)       
+#    if response == None:
+#        return None
+#    else:
+    return 0
         
 #循迹卡设置全部颜色 port:连接P端口；color:全部彩灯的颜色1~7(红、绿、蓝、黄、紫、青、白)
 def set_color(port:bytes, color:bytes) -> Optional[bytes]:
     trace_str=[0xA0, 0x20, 0x01, 0x71, 0x00, 0xBE]
     trace_str[0]=0XA0+port
     trace_str[4]=color
-    response = base_driver.single_operate_sensor(trace_str,0)       
-    if response == None:
-        return None
-    else:
-        return response[4]
+    time.sleep(0.005)
+    base_driver.write_data(0X01, 0X02, trace_str)
+#    response = base_driver.single_operate_sensor(trace_str,0)       
+#    if response == None:
+#        return None
+#    else:
+    return 0
 
 #循迹卡单通道光值读取 port:连接P端口；chn:检测通道；正常返回：通道光值数据; 读取错误：None  
 def get_analog(port:bytes, chn:bytes) -> Optional[bytes]:
     trace_str=[0xA0, 0x21, 0x01, 0x71, 0x00, 0xBE]
     trace_str[0]=0XA0+port
     trace_str[4]=20+chn
+    time.sleep(0.005)
     response = base_driver.single_operate_sensor(trace_str,0)       
     if response == None:
         return None
@@ -78,6 +84,7 @@ def get_line_state(port:bytes, state:bytes) -> Optional[bytes]:
     trace_str=[0xA0, 0x22, 0x01, 0x71, 0x00, 0xBE]
     trace_str[0]=0XA0+port
     trace_str[4]=state
+    time.sleep(0.005)
     response = base_driver.single_operate_sensor(trace_str,0)       
     if response == None:
         return None
@@ -90,7 +97,7 @@ def set_threshold(port:bytes, second:int) -> Optional[bytes]:
     trace_str[0]=0XA0+port
     trace_str[4]=second//256
     trace_str[5]=second%256   
-    
+    time.sleep(0.005)
     serial_lock.acquire()  #获取线程锁
     fcntl.flock(ser.fileno(), fcntl.LOCK_EX)  # 进程锁，阻塞其他进程            
     base_driver.write_data(0X01, 0X02, trace_str)

smartpi/ultrasonic.py

@@ -8,6 +8,7 @@ def get_value(port:bytes) -> Optional[bytes]:
     ultrasonic_str=[0xA0, 0x06, 0x00, 0xBE]
     ultrasonic_str[0]=0XA0+port
     ultrasonic_str[2]=1 
+    time.sleep(0.005)
     response = base_driver.single_operate_sensor(ultrasonic_str,0)
         
     if response == None:

{smartpi-0.1.34.dist-info → smartpi-0.1.35.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: smartpi
-Version: 0.1.34
+Version: 0.1.35
 Summary: A library use for H2-RCU
 Author: ZMROBO
 Classifier: Programming Language :: Python :: 3

smartpi-0.1.35.dist-info/RECORD

@@ -0,0 +1,20 @@
+smartpi/__init__.py,sha256=Xv8M38iKLdE8r7cDHJp0q8-0ixIWWpXee6GlYQzobuU,356
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smartpi-0.1.34.dist-info/RECORD

@@ -1,20 +0,0 @@
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-smartpi-0.1.34.dist-info/RECORD,,