smartpi 0.1.4__py3-none-any.whl → 0.1.6__py3-none-any.whl

smartpi/__init__.py

@@ -1,4 +1,4 @@
 __all__ = ["base_driver"]
 
-__version__ = "0.1.4"
+__version__ = "0.1.6"
 

smartpi/base_driver.py

@@ -2,6 +2,7 @@
 import serial,time,struct
 from typing import List, Optional
 from collections import deque
+from . import motor,cw2015,gui
 
 
 # 命令常量
@@ -201,7 +202,7 @@ def read_device_model() -> Optional[bytes]:
         response =process_received_data()
         if response:
             display_data = response[6:-3].decode(errors="ignore")
-            print(f"设备型号: {display_data}")
+#            print(f"设备型号: {display_data}")
             return display_data
         else:
             if time.time() - start_time > 3:
@@ -217,7 +218,7 @@ def read_version() -> Optional[bytes]:
         response =process_received_data()
         if response:
             display_data = response[6:-3].decode(errors="ignore")
-            print(f"版本号: {display_data}")
+#            print(f"版本号: {display_data}")
             return display_data
         else:
             if time.time() - start_time > 3:
@@ -233,7 +234,7 @@ def read_factory_data() -> Optional[bytes]:
         response =process_received_data()
         if response:
             display_data = response[6:-3].decode(errors="ignore")
-            print(f"厂家信息: {display_data}")
+#            print(f"厂家信息: {display_data}")
             return display_data
         else:
             if time.time() - start_time > 3:
@@ -249,7 +250,7 @@ def read_hardware_ID() -> Optional[bytes]:
         response =process_received_data()
         if response:
             display_data = response[6:-3].decode(errors="ignore")
-            print(f"硬件ID: {display_data}")
+#            print(f"硬件ID: {display_data}")
             return display_data
         else:
             if time.time() - start_time > 3:
@@ -265,7 +266,7 @@ def read_device_name() -> Optional[bytes]:
         response =process_received_data()
         if response:
             display_data = response[6:-3].decode(errors="ignore")
-            print(f"设备名称: {display_data}")
+#            print(f"设备名称: {display_data}")
             return display_data
         else:
             if time.time() - start_time > 3:
@@ -282,8 +283,8 @@ def write_device_name(send_data: str) -> Optional[bytes]:
         response =process_received_data()
         if response:
             display_data = response[6:-3].decode(errors="ignore")
-            print(f"设置状态: {display_data}")
-            return display_data
+#            print(f"设置状态: {display_data}")
+            return 0
         else:
             if time.time() - start_time > 3:
                 print("读取超时")
@@ -298,7 +299,7 @@ def read_connected() -> Optional[bytes]:
         response =process_received_data()
         if response:
             display_data = response[6:-3].decode(errors="ignore")
-            print(f"连接方式: {display_data}")
+#            print(f"连接方式: {display_data}")
             return display_data
         else:
             if time.time() - start_time > 3:
@@ -306,23 +307,13 @@ def read_connected() -> Optional[bytes]:
                 buffer.clear() 
                 return -1
     
-"""读取电池电量"""        
+"""读取电池电量百分比"""        
 def read_battery() -> Optional[bytes]: 
-    write_data(READ_BAT_H, READ_BAT_L)
-    start_time = time.time()
-    while True:
-        response =process_received_data()
-        if response:
-            display_data = response[6:-3]
-#                for x in display_data:
-#                    print(f"{x:02X}", end=' ')
-            print(f"电池电量: {((display_data[0]*256+display_data[1])/1000):.2f}V")
-            return display_data
-        else:
-            if time.time() - start_time > 3:
-                print("读取超时")
-                buffer.clear() 
-                return -1
+    sensor = cw2015.CW2015()    
+    if sensor.init():
+        return sensor.get_soc(0)
+    else:
+        return -1
         
 ###############################################################################固件升级
 
@@ -359,68 +350,68 @@ def read_max_com_len() -> Optional[bytes]:
                 return -1
 
 """下载文件的信息"""
-def download_massage() -> Optional[bytes]:
-    write_data(DL_MESSAGE_H, DL_MESSAGE_L, file_data)#文件信息来源从哪获取？
-    start_time = time.time()
-    while True:
-        response =process_received_data()
-        if response:
-            display_data = response[6:-3].decode(errors="ignore")
-            print(f"从机响应: {display_data}")
-            return display_data
-        else:
-            if time.time() - start_time > 3:
-                print("读取超时")
-                buffer.clear() 
-                return -1
-
-"""查询设备状态"""
-def read_device_status() -> Optional[bytes]:
-    write_data(READ_STATUS_H, READ_STATUS_L)
-    start_time = time.time()
-    while True:
-        response =process_received_data()
-        if response:
-            display_data = response[6:-3].decode(errors="ignore")
-            print(f"从机响应: {display_data}")
-            return display_data
-        else:
-            if time.time() - start_time > 3:
-                print("读取超时")
-                buffer.clear() 
-                return -1
-        
-"""发送页校验码"""
-def write_page_check() -> Optional[bytes]:
-    write_data(PAGE_CHECK_H, PAGE_CHECK_L, page_check_data)
-    start_time = time.time()
-    while True:
-        response =process_received_data()
-        if response:
-            display_data = response[6:-3].decode(errors="ignore")
-            print(f"从机响应: {display_data}")
-            return display_data
-        else:
-            if time.time() - start_time > 3:
-                print("读取超时")
-                buffer.clear() 
-                return -1          
-        
-"""发送页数据"""
-def write_page_check() -> Optional[bytes]:
-    write_data(PAGE_SEND_H, PAGE_SEND_L, page_send_data)
-    start_time = time.time()
-    while True:
-        response =process_received_data()
-        if response:
-            display_data = response[6:-3].decode(errors="ignore")
-            print(f"从机响应: {display_data}")
-            return display_data
-        else:
-            if time.time() - start_time > 3:
-                print("读取超时")
-                buffer.clear() 
-                return -1
+#def download_massage() -> Optional[bytes]:
+#    write_data(DL_MESSAGE_H, DL_MESSAGE_L, file_data)#文件信息来源从哪获取？
+#    start_time = time.time()
+#    while True:
+#        response =process_received_data()
+#        if response:
+#            display_data = response[6:-3].decode(errors="ignore")
+#            print(f"从机响应: {display_data}")
+#            return display_data
+#        else:
+#            if time.time() - start_time > 3:
+#                print("读取超时")
+#                buffer.clear() 
+#                return -1
+#
+#"""查询设备状态"""
+#def read_device_status() -> Optional[bytes]:
+#    write_data(READ_STATUS_H, READ_STATUS_L)
+#    start_time = time.time()
+#    while True:
+#        response =process_received_data()
+#        if response:
+#            display_data = response[6:-3].decode(errors="ignore")
+#            print(f"从机响应: {display_data}")
+#            return display_data
+#        else:
+#            if time.time() - start_time > 3:
+#                print("读取超时")
+#                buffer.clear() 
+#                return -1
+#        
+#"""发送页校验码"""
+#def write_page_check() -> Optional[bytes]:
+#    write_data(PAGE_CHECK_H, PAGE_CHECK_L, page_check_data)
+#    start_time = time.time()
+#    while True:
+#        response =process_received_data()
+#        if response:
+#            display_data = response[6:-3].decode(errors="ignore")
+#            print(f"从机响应: {display_data}")
+#            return display_data
+#        else:
+#            if time.time() - start_time > 3:
+#                print("读取超时")
+#                buffer.clear() 
+#                return -1          
+#        
+#"""发送页数据"""
+#def write_page_check() -> Optional[bytes]:
+#    write_data(PAGE_SEND_H, PAGE_SEND_L, page_send_data)
+#    start_time = time.time()
+#    while True:
+#        response =process_received_data()
+#        if response:
+#            display_data = response[6:-3].decode(errors="ignore")
+#            print(f"从机响应: {display_data}")
+#            return display_data
+#        else:
+#            if time.time() - start_time > 3:
+#                print("读取超时")
+#                buffer.clear() 
+#                return -1
      
 ###############################################################################读取传感器信息
 
@@ -506,6 +497,33 @@ def mode_change(send_data: str) -> Optional[bytes]:
                 buffer.clear() 
                 return -1
 
-            
+"""H2-RCU初始化"""
+def smartpi_init():
+    uart3_init()
+    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.reset_encode(1)
+    servo.reset_encode(2)
+    servo.reset_encode(3)
+    servo.reset_encode(4)
+    servo.reset_encode(5)
+    servo.reset_encode(6)
+    motor.reset_motor_encoder(1)
+    motor.reset_motor_encoder(2)
+    motor.reset_motor_encoder(3)
+    motor.reset_motor_encoder(4)
+    motor.reset_motor_encoder(5)
+    motor.reset_motor_encoder(6)
+    motor.set_motor(1,0)
+    motor.set_motor(2,0)
+    motor.set_motor(3,0)
+    motor.set_motor(4,0)
+    motor.set_motor(5,0)
+    motor.set_motor(6,0)
+    gui.init()          
          
             

smartpi/color_sensor.py

@@ -3,15 +3,15 @@ import time
 from typing import List, Optional
 from smartpi import base_driver
 
-#����ֵ��1-��ɫ��2-��ɫ��3-��ɫ��4-��ɫ��5-��ɫ��6-��ɫ
+#��ɫ��ȡ  ��������ֵ��1-��ɫ��2-��ɫ��3-��ɫ��4-��ɫ��5-��ɫ��6-��ɫ��  ��ȡ����-1  
 def get_value(port:bytes) -> Optional[bytes]:
     color_str=[0xA0, 0x04, 0x00, 0xBE]
     color_str[0]=0XA0+port
     color_str[2]=1
-    response = base_driver.single_operate_sensor(color_str)
-    if response:
-        return response[4]
-    else:
+    response = base_driver.single_operate_sensor(color_str)        
+    if response == -1:
         return -1
+    else:
+        return response[4]
         
         

smartpi/cw2015.py

@@ -0,0 +1,179 @@
+#!/usr/bin/env python3
+import os
+import sys
+import fcntl
+import time
+
+# I2C设备文件路径
+I2C_DEV_PATH = "/dev/i2c-2"  # 根据实际情况修改总线号
+
+# I2C从设备地址
+CW2015_ADDR = 0x62  # 7位地址
+
+# I2C通信常量
+I2C_SLAVE = 0x0703
+I2C_SMBUS = 0x0720  # SMBus传输
+
+# SMBus命令结构
+class i2c_smbus_ioctl_data:
+    def __init__(self, read_write, command, size, data):
+        self.read_write = read_write  # 0 = write, 1 = read
+        self.command = command        # 寄存器地址
+        self.size = size              # 数据大小
+        self.data = data              # 数据指针
+
+# 寄存器地址定义
+VERSION = 0x00
+VCELL_H = 0x02
+VCELL_L = 0x03
+SOC_B = 0x04
+SOC = 0x05
+RRT_H = 0x06
+RRT_L = 0x07
+CONFIG = 0x08
+MOOD = 0x0A
+
+class I2CDevice:
+    """通过设备文件直接访问I2C设备"""
+    def __init__(self, device_path, device_addr):
+        """
+        初始化I2C设备
+        :param device_path: I2C设备文件路径 (例如 "/dev/i2c-2")
+        :param device_addr: I2C从设备地址 (7位地址)
+        """
+        self.device_path = device_path
+        self.device_addr = device_addr
+        self.fd = None
+        
+        try:
+            # 打开设备文件
+            self.fd = os.open(device_path, os.O_RDWR)
+            # 设置从设备地址
+            fcntl.ioctl(self.fd, I2C_SLAVE, device_addr)
+            #print(f"成功打开 {device_path} 并设置地址 0x{device_addr:02X}")
+        except Exception as e:
+            print(f"打开I2C设备失败: {e}")
+            if self.fd:
+                os.close(self.fd)
+            sys.exit(1)
+    
+    def __del__(self):
+        """关闭设备文件"""
+        if self.fd:
+            os.close(self.fd)
+    
+    def write_byte(self, reg_addr, value):
+        """
+        向寄存器写入一个字节
+        :param reg_addr: 寄存器地址
+        :param value: 要写入的值
+        :return: 成功返回True，失败返回False
+        """
+        try:
+            # 构造写入数据：寄存器地址 + 值
+            data = bytes([reg_addr, value])
+            os.write(self.fd, data)
+            return True
+        except Exception as e:
+            print(f"写入寄存器0x{reg_addr:02X}失败: {e}")
+            return False
+    
+    def read_byte(self, reg_addr):
+        """
+        从寄存器读取一个字节
+        :param reg_addr: 寄存器地址
+        :return: 读取到的字节值，失败返回0
+        """
+        try:
+            # 先写入寄存器地址
+            os.write(self.fd, bytes([reg_addr]))
+            # 然后读取一个字节
+            value = os.read(self.fd, 1)
+            return value[0] if value else 0
+        except Exception as e:
+            print(f"读取寄存器0x{reg_addr:02X}失败: {e}")
+            return 0
+    
+    def read_word(self, reg_addr):
+        """
+        从寄存器读取两个字节（先高字节后低字节）
+        :param reg_addr: 寄存器地址（高字节寄存器）
+        :return: (高字节 << 8) | 低字节
+        """
+        try:
+            # 先写入寄存器地址
+            os.write(self.fd, bytes([reg_addr]))
+            # 读取两个字节
+            data = os.read(self.fd, 2)
+            if len(data) == 2:
+                return (data[0] << 8) | data[1]
+            else:
+                return 0
+        except Exception as e:
+            print(f"读取寄存器0x{reg_addr:02X}失败: {e}")
+            return 0
+
+class CW2015:
+    """CW2015电池监测芯片驱动"""
+    def __init__(self, i2c_dev_path=I2C_DEV_PATH, i2c_addr=CW2015_ADDR):
+        """
+        初始化CW2015
+        :param i2c_dev_path: I2C设备路径
+        :param i2c_addr: I2C地址
+        """
+        self.device = I2CDevice(i2c_dev_path, i2c_addr)
+    
+    def init(self):
+        """初始化芯片配置"""
+        # 写入配置
+        if not self.device.write_byte(CONFIG, 0x50):
+            print("配置寄存器写入失败")
+            return False
+        if not self.device.write_byte(MOOD, 0x00):
+            print("模式寄存器写入失败")
+            return False
+        
+        time.sleep(0.05)  # 50ms延时
+        #print("CW2015初始化完成")
+        return True
+    
+    def get_id(self):
+        """获取芯片ID"""
+        return self.device.read_byte(VERSION)
+    
+    def get_voltage(self):
+        """读取电池电压(mV)"""
+        # 读取电压高字节寄存器
+        vh = self.device.read_byte(VCELL_H)
+        # 读取电压低字节寄存器
+        vl = self.device.read_byte(VCELL_L)
+        
+        # 组合14位ADC值
+        adc_value = ((vh & 0x3F) << 8) | vl
+        # 转换为电压值 (305μV/LSB)
+        voltage = adc_value * 305 / 1000
+        return int(voltage)
+    
+    def get_soc(self, mode=0):
+        """读取电池剩余电量"""
+        if mode == 0:
+            return self.device.read_byte(SOC_B)  # 百分比整数
+        else:
+            return self.device.read_byte(SOC)     # 高精度值
+    
+    def get_remaining_time(self):
+        """获取剩余工作时间(分钟)"""
+        # 读取时间高字节寄存器
+        rh = self.device.read_byte(RRT_H)
+        # 读取时间低字节寄存器
+        rl = self.device.read_byte(RRT_L)
+        
+        # 提取剩余时间（13位）
+        remaining_time = ((rh & 0x1F) << 8) | rl
+        return remaining_time
+    
+    def get_alert_status(self):
+        """获取告警状态"""
+        rh = self.device.read_byte(RRT_H)
+        return (rh >> 7) & 0x01
+

smartpi/gui.py

@@ -0,0 +1,61 @@
+import socket
+import json
+import sys
+
+# 连接对象（模块级单例）
+_connection = None
+
+def init(host="127.0.0.1", port=65167):
+    """初始化GUI连接"""
+    global _connection
+    if _connection is None:
+        _connection = socket.create_connection((host, port))
+        _send({"type": "clear"})
+
+def _send(cmd):
+    """发送命令到服务器"""
+    if _connection is None and "pytest" not in sys.modules:  # 允许测试环境不初始化
+        raise ConnectionError("GUI not initialized. Call gui.init() first.")
+    if _connection:
+        _connection.sendall((json.dumps(cmd) + "\n").encode())
+
+def show_text(x, y, text, color="black", size=16):
+    _send({"type": "text", "x": x, "y": y, "text": text, "color": color, "size": size})
+
+def print(text):  # 使用print作为函数名，因为调用时使用gui.print()
+    _send({"type": "print", "text": text})
+
+def println(text):
+    _send({"type": "println", "text": text})
+
+def show_image(x, y, path, width, height):
+    _send({"type": "image", "x": x, "y": y, "path": path, "width": width, "height": height})
+
+def draw_line(x1, y1, x2, y2, color="black", width=1):
+    _send({"type": "line", "x1": x1, "y1": y1, "x2": x2, "y2": y2, "color": color, "width": width})
+
+def fill_rect(x, y, w, h, color="black"):
+    _send({"type": "fill_rect", "x": x, "y": y, "w": w, "h": h, "color": color})
+    
+def draw_rect(x, y, w, h, width, color="black"):
+    _send({"type": "draw_rect", "x": x, "y": y, "w": w, "h": h, "width": width, "color": color})
+
+def fill_circle(cx, cy, r, color="black"):
+    _send({"type": "fill_circle", "cx": cx, "cy": cy, "r": r, "color": color})
+
+def draw_circle(cx, cy, r, width, color="black"):
+    _send({"type": "draw_circle", "cx": cx, "cy": cy, "r": r, "width": width, "color": color})
+
+def clear():
+    _send({"type": "clear"})
+
+def close():
+    """关闭GUI连接"""
+    global _connection
+    if _connection:
+        _connection.close()
+        _connection = None
+
+# 注册程序退出时自动关闭连接
+import atexit
+atexit.register(close)

smartpi/humidity.py

@@ -4,17 +4,16 @@ from typing import List, Optional
 from smartpi import base_driver
 
              
-#湿度读取 port:连接P端口；
+#湿度读取 port:连接P端口；正常返回：湿度数据; 读取错误：-1
 def get_value(port:bytes) -> Optional[bytes]:
-    humiture_str=[0xA0, 0x0C, 0x01, 0x71, 0x00, 0xBE]
-    humiture_str[0]=0XA0+port
-    humiture_str[4]=1 
-    response = base_driver.single_operate_sensor(humiture_str)
-    if response:
-        return response[4]
-    else:
+    humi_str=[0XA0, 0X0C, 0X01, 0X71, 0X00, 0XBE]
+    humi_str[0]=0XA0+port
+    humi_str[4]=0X01 
+    response = base_driver.single_operate_sensor(humi_str)
+    if response == -1:
         return -1
-
+    else:
+        return response[4]
 
 
 

smartpi/led.py

@@ -4,7 +4,7 @@ from typing import List, Optional
 from smartpi import base_driver
 
 
-#�ʵƿ��� port:����P�˿ڣ�command:0:�صƣ�1:�죻2:�̣�3:����4:�ƣ�5:�ϣ�6:�ࣻ7:��
+#�ʵƿ��� port:����P�˿ڣ�command:0:�صƣ�1:�죻2:�̣�3:����4:�ƣ�5:�ϣ�6:�ࣻ7:�ף�  �������أ�0; ��ȡ����-1  
 def set_color(port:bytes,command:bytes) -> Optional[bytes]:
     color_lamp_str=[0xA0, 0x05, 0x00, 0xBE]
     color_lamp_str[0]=0XA0+port

smartpi/light_sensor.py

@@ -3,40 +3,16 @@ import time
 from typing import List, Optional
 from smartpi import base_driver
 
-        
+#����ȡ port:����P�˿ڣ�  �������أ��Ҷ�����; ��ȡ����-1  
 def get_value(port:bytes) -> Optional[bytes]:
     light_str=[0xA0, 0x02, 0x00, 0xBE]
     light_str[0]=0XA0+port
     light_str[2]=1
-    response = base_driver.single_operate_sensor(light_str)
-    if response:
-        light_data=response[4:-1]
-        light_num=int.from_bytes(light_data, byteorder='big', signed=True)
-        return light_num
-    else:
+    response = base_driver.single_operate_sensor(light_str)       
+    if response == -1:
         return -1
-        
-def light_on(port:bytes) -> Optional[bytes]:
-    light_str=[0xA0, 0x02, 0x00, 0xBE]
-    light_str[0]=0XA0+port
-    light_str[2]=2
-    response = base_driver.single_operate_sensor(light_str)
-    if response:
-        light_data=response[4:-1]
-        light_num=int.from_bytes(light_data, byteorder='big', signed=True)
-        return light_num
     else:
-        return -1
-        
-def light_off(port:bytes) -> Optional[bytes]:
-    light_str=[0xA0, 0x02, 0x00, 0xBE]
-    light_str[0]=0XA0+port
-    light_str[2]=3
-    response = base_driver.single_operate_sensor(light_str)
-    if response:
         light_data=response[4:-1]
         light_num=int.from_bytes(light_data, byteorder='big', signed=True)
         return light_num
-    else:
-        return -1
         

smartpi/motor.py

@@ -8,13 +8,13 @@ from smartpi import base_driver
 def get_motor_encoder(port:bytes) -> Optional[bytes]:
     motor_str=[0xA0, 0x01, 0x01, 0xBE]           
     motor_str[0]=0XA0+port       
-    response = base_driver.single_operate_sensor(motor_str)
-    if response:
+    response = base_driver.single_operate_sensor(motor_str)        
+    if response == -1:
+        return -1
+    else:
         code_data=response[4:-1]
         code_num=int.from_bytes(code_data, byteorder='big', signed=True)
         return code_num
-    else:
-        return -1
         
 #����������� port:����M�˿ڣ�
 def reset_motor_encoder(port:bytes) -> Optional[bytes]:
@@ -135,17 +135,17 @@ def set_motor_constspeed(port:bytes,speed:int) -> Optional[bytes]:
     else:
         return -1
         
-#��������ȡ port:����M�˿ڣ�
+#�����ٶȶ�ȡ port:����M�˿ڣ�
 def get_motor_speed(port:bytes) -> Optional[bytes]:
     motor_str=[0xA0, 0x01, 0x10, 0xBE]           
     motor_str[0]=0XA0+port       
-    response = base_driver.single_operate_sensor(motor_str)
-    if response:
+    response = base_driver.single_operate_sensor(motor_str)        
+    if response == -1:
+        return -1
+    else:
         code_data=response[4:-1]
         code_num=int.from_bytes(code_data, byteorder='big', signed=True)
-        return code_num
-    else:
-        return -1        
+        return code_num   
 
   
 

smartpi/move.py

@@ -0,0 +1,228 @@
+# coding=utf-8
+import time
+from typing import List, Optional
+from smartpi import base_driver
+
+
+#以速度移动x秒   dir:方向forward、backward、turnright、turnleft ;  speed:0~100；  second:x秒
+def run_second(dir:bytes,speed:int,second:bytes) -> Optional[bytes]:
+    move_str=[0xA0, 0x01, 0x11, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0xBE]
+    
+    if dir=="forward":
+        move_str[4]=0x01
+    elif dir=="backward":
+        move_str[4]=0x02
+    elif dir=="turnleft":
+        move_str[4]=0x03
+    elif dir=="turnright":
+        move_str[4]=0x04
+    
+    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
+        
+    move_str[6]=m_par
+    move_str[8]=second      
+             
+    response = base_driver.single_operate_sensor(move_str)        
+    if response == -1:
+        return -1
+    else:
+        return 0
+        
+#以速度移动x度(编码)   dir:方向forward、backward、turnright、turnleft；  speed:0~100；  angle:x角度
+def run_angle(dir:bytes,speed:bytes,angle:bytes) -> Optional[bytes]:
+    move_str=[0xA0, 0x01, 0x12, 0x71, 0x00, 0x71, 0x00, 0x81, 0x00, 0x00, 0xBE]
+    
+    if dir=="forward":
+        move_str[4]=0x01
+    elif dir=="backward":
+        move_str[4]=0x02
+    elif dir=="turnright":
+        move_str[4]=0x03
+    elif dir=="turnleft":
+        move_str[4]=0x04
+    
+    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
+        
+    move_str[6]=m_par
+    move_str[8]=angle//256
+    move_str[9]=angle%256      
+             
+    response = base_driver.single_operate_sensor(move_str)        
+    if response == -1:
+        return -1
+    else:
+        return 0
+        
+#以速度移动  dir:方向forward、backward、turnright、turnleft ;  speed:0~100；
+def run(dir:bytes,speed:int) -> Optional[bytes]:
+    move_str=[0xA0, 0x01, 0x13, 0x71, 0x00, 0x71, 0x00, 0xBE]
+    
+    if dir=="forward":
+        move_str[4]=0x01
+    elif dir=="backward":
+        move_str[4]=0x02
+    elif dir=="turnright":
+        move_str[4]=0x03
+    elif dir=="turnleft":
+        move_str[4]=0x04
+    
+    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
+        
+    move_str[6]=m_par      
+             
+    response = base_driver.single_operate_sensor(move_str)        
+    if response == -1:
+        return -1
+    else:
+        return 0
+        
+#设置左右轮速度移动x秒  Lspeed:-100~100；  Rspeed:-100~100；  second:x秒
+def run_speed_second(Lspeed:int,Rspeed:int,second:bytes) -> Optional[bytes]:
+    move_str=[0xA0, 0x01, 0x14, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0xBE]
+    
+    if Lspeed>100:
+        m_par=100
+    elif Lspeed>=0 and Lspeed<=100:
+        m_par=Lspeed        
+    elif Lspeed<-100:
+        m_par=156
+    elif Lspeed<=0 and Lspeed>=-100:
+        m_par=256+Lspeed
+        
+    move_str[4]=m_par
+        
+    if Rspeed>100:
+        m_par=100
+    elif Rspeed>=0 and Rspeed<=100:
+        m_par=Rspeed        
+    elif Rspeed<-100:
+        m_par=156
+    elif Rspeed<=0 and Rspeed>=-100:
+        m_par=256+Rspeed
+        
+    move_str[6]=m_par
+    
+    move_str[8]=second
+             
+    response = base_driver.single_operate_sensor(move_str)        
+    if response == -1:
+        return -1
+    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]:
+    move_str=[0xA0, 0x01, 0x14, 0x71, 0x00, 0x71, 0x00, 0xBE]
+    
+    if Lspeed>100:
+        m_par=100
+    elif Lspeed>=0 and Lspeed<=100:
+        m_par=Lspeed        
+    elif Lspeed<-100:
+        m_par=156
+    elif Lspeed<=0 and Lspeed>=-100:
+        m_par=256+Lspeed
+        
+    move_str[4]=m_par
+        
+    if Rspeed>100:
+        m_par=100
+    elif Rspeed>=0 and Rspeed<=100:
+        m_par=Rspeed        
+    elif Rspeed<-100:
+        m_par=156
+    elif Rspeed<=0 and Rspeed>=-100:
+        m_par=256+Rspeed
+        
+    move_str[6]=m_par
+             
+    response = base_driver.single_operate_sensor(move_str)        
+    if response == -1:
+        return -1
+    else:
+        return 0
+        
+#设置左右轮功率移动  Lspeed:0~100；  Rspeed:0~100；
+def run_power(Lpower:bytes,Rpower:bytes) -> Optional[bytes]:
+    move_str=[0xA0, 0x01, 0x17, 0x71, 0x00, 0x71, 0x00, 0xBE]
+        
+    move_str[4]=Lpower       
+    move_str[6]=Rpower
+             
+    response = base_driver.single_operate_sensor(move_str)        
+    if response == -1:
+        return -1
+    else:
+        return 0
+        
+#设置最大功率  Lspeed:0~100；  Rspeed:0~100；
+def set_maxpower(M1:bytes,M2:bytes,M3:bytes,M4:bytes,M5:bytes,M6:bytes) -> Optional[bytes]:
+    move_str=[0xA0, 0x01, 0x18, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0xBE]
+        
+    move_str[4]=M1       
+    move_str[6]=M2
+    move_str[8]=M3       
+    move_str[10]=M4
+    move_str[12]=M5       
+    move_str[14]=M6
+             
+    response = base_driver.single_operate_sensor(move_str)        
+    if response == -1:
+        return -1
+    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)        
+    if response == -1:
+        return -1
+    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]:
+    move_str=[0xA0, 0x01, 0x19, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0xBE]
+    
+    move_str[4]=Lmotor
+    move_str[6]=Rmotor
+    
+    if state=="no_reversal":
+        move_str[8]=0x01
+    elif state=="all_reversal":
+        move_str[8]=0x02
+    elif state=="left_reversal":
+        move_str[8]=0x03
+    elif state=="right_reversal":
+        move_str[8]=0x04             
+
+    response = base_driver.single_operate_sensor(move_str)        
+    if response == -1:
+        return -1
+    else:
+        return 0        
+        
+        

smartpi/servo.py

@@ -15,7 +15,7 @@ def steer_angle(port:bytes,angle:bytes) -> Optional[bytes]:
     else:
         return -1
         
-#С������� port:����P�˿ڣ�angle:�Ƕ�0~270��second:1~256
+#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
@@ -28,7 +28,7 @@ def steer_angle_delay(port:bytes,angle:bytes,second:bytes) -> Optional[bytes]:
     else:
         return -1
         
-#BE-9528������� port:����P�˿ڣ�angle:�Ƕ�(0~360)��speed:�ٶ�(0~100)��
+#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
@@ -69,13 +69,13 @@ 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
-    response = base_driver.single_operate_sensor(servo_str)
-    if response:
+    response = base_driver.single_operate_sensor(servo_str)       
+    if response == -1:
+        return -1
+    else:
         angle_data=response[4:-1]
         angle_num=int.from_bytes(angle_data, byteorder='big', signed=True)
         return angle_num
-    else:
-        return -1
         
 #���ֶ���ٶ�ת�� port:����P�˿ڣ�
 def set_speed(port:bytes,speed:int) -> Optional[bytes]:
@@ -135,13 +135,13 @@ 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
-    response = base_driver.single_operate_sensor(servo_str)
-    if response:
+    response = base_driver.single_operate_sensor(servo_str)        
+    if response == -1:
+        return -1
+    else:
         code_data=response[4:-1]
         code_num=int.from_bytes(code_data, byteorder='big', signed=True)
         return code_num
-    else:
-        return -1
 
 
 

smartpi/temperature.py

@@ -4,14 +4,14 @@ from typing import List, Optional
 from smartpi import base_driver
 
 
-#�¶ȶ�ȡ port:����P�˿ڣ�
+#�¶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=[0XA0, 0X0C, 0X01, 0X71, 0X00, 0XBE]
     temp_str[0]=0XA0+port
     temp_str[4]=0 
     response = base_driver.single_operate_sensor(temp_str)
-    if response:
-        return response[4]
-    else:
+    if response == -1:
         return -1
+    else:
+        return response[4]
         

smartpi/touch_sensor.py

@@ -3,13 +3,13 @@ import time
 from typing import List, Optional
 from smartpi import base_driver
 
-#���������� port:����P�˿�
+#���������� port:����P�˿�  �������أ�1��0; ��ȡ����-1  
 def get_value(port:bytes) -> Optional[bytes]:
     read_sw_str=[0xA0, 0x03, 0x01, 0xBE]
     read_sw_str[0]=0XA0+port   
     response = base_driver.single_operate_sensor(read_sw_str)
-    if response:
-        return response[4]
-    else:
+    if response == -1:
         return -1
+    else:
+        return response[4]
         

smartpi/ultrasonic.py

@@ -3,16 +3,17 @@ import time
 from typing import List, Optional
 from smartpi import base_driver
         
-        
+#��������ഫ���� port:����P�˿�  �������أ��������; ��ȡ����-1     
 def get_value(port:bytes) -> Optional[bytes]:
     ultrasonic_str=[0xA0, 0x06, 0x00, 0xBE]
     ultrasonic_str[0]=0XA0+port
     ultrasonic_str[2]=1 
     response = base_driver.single_operate_sensor(ultrasonic_str)
-    if response:
+        
+    if response == -1:
+        return -1
+    else:
         distance_data=response[4:-1]
         distance_num=int.from_bytes(distance_data, byteorder='big', signed=True)
         return distance_num
-    else:
-        return -1
         

{smartpi-0.1.4.dist-info → smartpi-0.1.6.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: smartpi
-Version: 0.1.4
+Version: 0.1.6
 Summary: A library use for H2-RCU
 Author: ZMROBO
 Classifier: Programming Language :: Python :: 3

smartpi-0.1.6.dist-info/RECORD

@@ -0,0 +1,18 @@
+smartpi/__init__.py,sha256=0B0ifjRnjFk7ubY8GaCY6TAxKq72V5fx3gH_rqOu5yE,54
+smartpi/base_driver.py,sha256=wYfho3veNKaL0mr_9UnEo2MSmsaKIAZY83UkiDWTWCw,17810
+smartpi/color_sensor.py,sha256=IubJb8zd87oWf3qTn07wTHM2vjUADwgSdXUChGgovHw,492
+smartpi/cw2015.py,sha256=1lAF-pi_ye_ya1AZQS1sjbgsDf7MThO5IAskKsNGBzA,5695
+smartpi/gui.py,sha256=E98_soyWbEf_dwYhXZgMSXrgY5QuYoDTuFCPK63flIQ,2102
+smartpi/humidity.py,sha256=-awlSiy7ea6iwtirUMdDAMmmdIgVQZ3D7cDzgXmy314,493
+smartpi/led.py,sha256=92SBKjQbg1HN6rtKRH1NNWvAFRBP2-5OUGM9muOvhyQ,526
+smartpi/light_sensor.py,sha256=wsW0_ZnKeHN6IWRH3CIybKLdHPVK2I8jSTCqXlUECVk,565
+smartpi/motor.py,sha256=ePBKQu7FSrqjnM-d1kDcT1nYMLpnLeALJ0agI2dznoQ,4447
+smartpi/move.py,sha256=1LpNlveTJLnObyD4nzbHIC0rlkPuPUwPtnF3sgr1t6g,6599
+smartpi/servo.py,sha256=3cGyBattPY0nXQvJl3b462VGyyzca7S33X_9xIp2tUQ,4533
+smartpi/temperature.py,sha256=JeuiwsV6AUjnFQsQxgvjM3AuBrVvK5DuSE-BbX1Di2s,456
+smartpi/touch_sensor.py,sha256=jlKqvcoSmfZzH9zJeafBeVEQhxIYkkzXe4_fifX0COI,434
+smartpi/ultrasonic.py,sha256=5MS0EdQNirAl8iZbdwZ63fnjp6axHRZHw6dJwcwuXnQ,618
+smartpi-0.1.6.dist-info/METADATA,sha256=7Vgj7YD3AWgt5LM-IUQxXqvT__TVMf-6scr1I7K8fWw,310
+smartpi-0.1.6.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+smartpi-0.1.6.dist-info/top_level.txt,sha256=PoLhUCmWAiQUg5UeN2fS-Y1iQyBbF2rdUlizXtpHGRQ,8
+smartpi-0.1.6.dist-info/RECORD,,

smartpi-0.1.4.dist-info/RECORD

@@ -1,15 +0,0 @@
-smartpi/__init__.py,sha256=Pavr-N-hqEpqeTD1ck9SZw9vGtn_Ju7cbQF81qkkDxg,54
-smartpi/base_driver.py,sha256=xnAfn8PjaJUhlFLxKRXDbtKY5nmp_yiDGtx4lyHEp9U,17441
-smartpi/color_sensor.py,sha256=HJAUGO8CPaoodgLwgzx_LVdvf0MoG63fg91-Y5Qp3fk,446
-smartpi/humidity.py,sha256=Y8vLrK8FD5hdR_KshQxka2ygfJcCbuWs48gGr7zBqu4,456
-smartpi/led.py,sha256=f8K7ebHFy9kIlCLWKEyQbmPQv4z2TMTNGs1vaKOtMAs,495
-smartpi/light_sensor.py,sha256=QdY5jB_yg0mh3r7eUBsULqAEmQgaQgaUQHnKR0z3FAs,1279
-smartpi/motor.py,sha256=igk9OFJjsS4nq16Sfl8s1ok8qolALreTFWXUeuDmHi4,4424
-smartpi/servo.py,sha256=NFaoiDPdgs6wUklNWhL175CHIF0dJSRNDyOYRfum1xM,4492
-smartpi/temperature.py,sha256=FUSoR7FeLZ4a_xj7ej60jXqXbX1frUTz3wDXzSTkob8,418
-smartpi/touch_sensor.py,sha256=Y491KYiQBljX3IAvldld3Z8nXkBOAqqx7cTXda3Y-tA,396
-smartpi/ultrasonic.py,sha256=lGPJRxDZN_uIIxqFMUa715miuN7ZXoKJ9npD03dyuXU,539
-smartpi-0.1.4.dist-info/METADATA,sha256=fevHCCy6ZRYLCt1tl8cHMi-eIC8WHRIMc768xVPaIzo,310
-smartpi-0.1.4.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
-smartpi-0.1.4.dist-info/top_level.txt,sha256=PoLhUCmWAiQUg5UeN2fS-Y1iQyBbF2rdUlizXtpHGRQ,8
-smartpi-0.1.4.dist-info/RECORD,,