smartpi 0.1.38__py3-none-any.whl

smartpi/servo.py

@@ -0,0 +1,178 @@
+# coding=utf-8
+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)
+    time.sleep(0.005)
+    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]:
+    servo_str=[0xA0, 0x10, 0x01, 0x81, 0x00, 0x00, 0x81, 0x00, 0xBE]
+    servo_str[0]=0XA0+port
+    servo_str[4]=angle//256
+    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
+#    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)
+    time.sleep(0.005)
+    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]:
+    servo_str=[0xA0, 0x0D, 0x01, 0x81, 0x00, 0x00, 0x81, 0x00, 0xBE]
+    servo_str[0]=0XA0+port
+    servo_str[4]=angle//256
+    servo_str[5]=angle%256
+    servo_str[7]=speed
+    #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
+#    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]:
+    servo_str=[0xA0, 0x11, 0x01, 0x81, 0x00, 0x00, 0x81, 0x00, 0x00, 0xBE]
+    servo_str[0]=0XA0+port
+    servo_str[4]=angle//256
+    servo_str[5]=angle%256
+    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
+#    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)
+    time.sleep(0.005)
+    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]:
+    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
+    else:
+        angle_data=response[4:-1]
+        angle_num=int.from_bytes(angle_data, byteorder='big', signed=True)
+        return angle_num
+        
+#���ֶ���ٶ�ת�� port:����P�˿ڣ�
+def set_speed(port:bytes,speed:int) -> Optional[bytes]:
+    servo_str=[0xA0, 0x14, 0x01, 0x71, 0x00, 0xBE]
+    servo_str[0]=0XA0+port
+    if speed>100:
+        m_par=100
+    elif speed>=0 and speed<=100:
+        m_par=speed        
+    elif speed<-100:
+        m_par=156
+    elif speed<=0 and speed>=-100:
+        m_par=256+speed
+        
+    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
+#    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]:
+    servo_str=[0xA0, 0x15, 0x01, 0x81, 0x00, 0x00, 0x71, 0x00, 0xBE]
+    servo_str[0]=0XA0+port
+    
+    servo_str[4]=code//256
+    servo_str[5]=code%256
+    
+    if speed>100:
+        m_par=100
+    elif speed>=0 and speed<=100:
+        m_par=speed        
+    elif speed<-100:
+        m_par=156
+    elif speed<=0 and speed>=-100:
+        m_par=256+speed      
+    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
+#    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)
+    time.sleep(0.005)
+    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]:
+    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
+    else:
+        code_data=response[4:-1]
+        code_num=int.from_bytes(code_data, byteorder='big', signed=True)
+        return code_num
+
+
+
+

smartpi/temperature.py

@@ -0,0 +1,18 @@
+# coding=utf-8
+import time
+from typing import List, Optional
+from smartpi import base_driver
+
+
+#�¶ȶ�ȡ port:����P�˿ڣ��������أ��¶�����; ��ȡ����-1
+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
+    else:
+        return response[4]
+        

smartpi/text_gte_model/config/config.json

@@ -0,0 +1,30 @@
+{
+  "_name_or_path": "thenlper/gte-small-zh",
+  "architectures": [
+    "BertModel"
+  ],
+  "attention_probs_dropout_prob": 0.1,
+  "classifier_dropout": null,
+  "directionality": "bidi",
+  "hidden_act": "gelu",
+  "hidden_dropout_prob": 0.1,
+  "hidden_size": 512,
+  "initializer_range": 0.02,
+  "intermediate_size": 2048,
+  "layer_norm_eps": 1e-12,
+  "max_position_embeddings": 512,
+  "model_type": "bert",
+  "num_attention_heads": 8,
+  "num_hidden_layers": 6,
+  "pad_token_id": 0,
+  "pooler_fc_size": 768,
+  "pooler_num_attention_heads": 12,
+  "pooler_num_fc_layers": 3,
+  "pooler_size_per_head": 128,
+  "pooler_type": "first_token_transform",
+  "position_embedding_type": "absolute",
+  "transformers_version": "4.33.2",
+  "type_vocab_size": 2,
+  "use_cache": true,
+  "vocab_size": 21128
+}

smartpi/text_gte_model/config/quantize_config.json

@@ -0,0 +1,30 @@
+{
+    "per_channel": true,
+    "reduce_range": true,
+    "per_model_config": {
+        "model": {
+            "op_types": [
+                "Erf",
+                "Softmax",
+                "Shape",
+                "Unsqueeze",
+                "ReduceMean",
+                "Sub",
+                "Transpose",
+                "Mul",
+                "Pow",
+                "Cast",
+                "Gather",
+                "Reshape",
+                "MatMul",
+                "Slice",
+                "Div",
+                "Sqrt",
+                "Constant",
+                "Add",
+                "Concat"
+            ],
+            "weight_type": "QInt8"
+        }
+    }
+}

smartpi/text_gte_model/config/special_tokens_map.json

@@ -0,0 +1,7 @@
+{
+  "cls_token": "[CLS]",
+  "mask_token": "[MASK]",
+  "pad_token": "[PAD]",
+  "sep_token": "[SEP]",
+  "unk_token": "[UNK]"
+}