smartpi 0.1.7__py3-none-any.whl → 0.1.9__py3-none-any.whl

smartpi/__init__.py

@@ -1,4 +1,4 @@
 __all__ = ["base_driver"]
 
-__version__ = "0.1.7"
+__version__ = "0.1.9"
 

smartpi/base_driver.py

@@ -423,9 +423,9 @@ def read_peripheral() -> Optional[bytes]:
         response =process_received_data()
         if response:
             display_data = response[6:-3]
-            for x in display_data:
-                print(f"{x:02X}", end=' ')
-            print("\n")
+#            for x in display_data:
+#                print(f"{x:02X}", end=' ')
+#            print("\n")
             return display_data
         else:
             if time.time() - start_time > 3:
@@ -441,9 +441,9 @@ def single_operate_sensor(op_struct: bytes) -> Optional[bytes]:
         response =process_received_data()
         if response:
             display_data = response[6:-3]
-            for x in display_data:
-                print(f"{x:02X}", end=' ')
-            print("\n")
+#            for x in display_data:
+#                print(f"{x:02X}", end=' ')
+#            print("\n")
             return display_data
         else:
             if time.time() - start_time > 3:
@@ -506,6 +506,18 @@ def smartpi_init():
     P_port_init(4)
     P_port_init(5)
     P_port_init(6)
+    servo.set_init(1)
+    servo.set_init(2)
+    servo.set_init(3)
+    servo.set_init(4)
+    servo.set_init(5)
+    servo.set_init(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)
     servo.reset_encode(1)
     servo.reset_encode(2)
     servo.reset_encode(3)
@@ -518,12 +530,7 @@ def smartpi_init():
     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)
+    time.sleep(0.1)
     gui.init()          
-         
+    time.sleep(0.1)   
             

smartpi/motor.py

@@ -68,7 +68,7 @@ def set_motor_stop(port:bytes) -> Optional[bytes]:
     else:
         return -1
         
-#���������� port:����M�˿ڣ�speed:-100~100��code:0~65535
+#����Ƕȿ��� port:����M�˿ڣ�speed:-100~100��degree:0~65535
 def set_motor_angle(port:bytes,speed:int,degree:int) -> Optional[bytes]:
     motor_str=[0xA0, 0x01, 0x04, 0x81, 0x00, 0x81, 0x00, 0x00, 0xBE]           
     motor_str[0]=0XA0+port

smartpi/move.py

@@ -5,28 +5,19 @@ 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]:
+def run_second(dir:bytes,speed:bytes,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]=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[6]=speed
     move_str[8]=second      
              
     response = base_driver.single_operate_sensor(move_str)        
@@ -36,7 +27,7 @@ def run_second(dir:bytes,speed:int,second:bytes) -> Optional[bytes]:
         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]:
+def run_angle(dir:bytes,speed:bytes,angle:int) -> Optional[bytes]:
     move_str=[0xA0, 0x01, 0x12, 0x71, 0x00, 0x71, 0x00, 0x81, 0x00, 0x00, 0xBE]
     
     if dir=="forward":
@@ -47,17 +38,8 @@ def run_angle(dir:bytes,speed:bytes,angle:bytes) -> Optional[bytes]:
         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[6]=speed
     move_str[8]=angle//256
     move_str[9]=angle%256      
              
@@ -110,7 +92,7 @@ def run_speed_second(Lspeed:int,Rspeed:int,second:bytes) -> Optional[bytes]:
     elif Lspeed<=0 and Lspeed>=-100:
         m_par=256+Lspeed
         
-    move_str[4]=m_par
+    move_str[6]=m_par
         
     if Rspeed>100:
         m_par=100
@@ -121,7 +103,7 @@ def run_speed_second(Lspeed:int,Rspeed:int,second:bytes) -> Optional[bytes]:
     elif Rspeed<=0 and Rspeed>=-100:
         m_par=256+Rspeed
         
-    move_str[6]=m_par
+    move_str[4]=m_par
     
     move_str[8]=second
              
@@ -133,7 +115,7 @@ def run_speed_second(Lspeed:int,Rspeed:int,second:bytes) -> Optional[bytes]:
         
 #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]
+    move_str=[0xA0, 0x01, 0x15, 0x71, 0x00, 0x71, 0x00, 0xBE]
     
     if Lspeed>100:
         m_par=100
@@ -144,7 +126,7 @@ def run_speed(Lspeed:int,Rspeed:int) -> Optional[bytes]:
     elif Lspeed<=0 and Lspeed>=-100:
         m_par=256+Lspeed
         
-    move_str[4]=m_par
+    move_str[6]=m_par
         
     if Rspeed>100:
         m_par=100
@@ -155,7 +137,7 @@ def run_speed(Lspeed:int,Rspeed:int) -> Optional[bytes]:
     elif Rspeed<=0 and Rspeed>=-100:
         m_par=256+Rspeed
         
-    move_str[6]=m_par
+    move_str[4]=m_par
              
     response = base_driver.single_operate_sensor(move_str)        
     if response == -1:
@@ -163,12 +145,12 @@ def run_speed(Lspeed:int,Rspeed:int) -> Optional[bytes]:
     else:
         return 0
         
-#设置左右轮功率移动  Lspeed:0~100；  Rspeed:0~100；
+#设置左右轮功率移动  Lpower:0~100；  Rpower: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
+    move_str[4]=Rpower       
+    move_str[6]=Lpower
              
     response = base_driver.single_operate_sensor(move_str)        
     if response == -1:
@@ -176,7 +158,7 @@ def run_power(Lpower:bytes,Rpower:bytes) -> Optional[bytes]:
     else:
         return 0
         
-#设置最大功率  Lspeed:0~100；  Rspeed:0~100；
+#设置最大功率
 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]
         
@@ -206,18 +188,18 @@ def stop() -> Optional[bytes]:
 #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
+        move_str[4]=0x01
     elif state=="all_reversal":
-        move_str[8]=0x02
+        move_str[4]=0x02
     elif state=="left_reversal":
-        move_str[8]=0x03
+        move_str[4]=0x03
     elif state=="right_reversal":
-        move_str[8]=0x04             
+        move_str[4]=0x04  
+        
+    move_str[6]=Rmotor
+    move_str[8]=Lmotor          
 
     response = base_driver.single_operate_sensor(move_str)        
     if response == -1:

smartpi/servo.py

@@ -28,7 +28,7 @@ def steer_angle_delay(port:bytes,angle:bytes,second:bytes) -> Optional[bytes]:
     else:
         return -1
         
-#BE-9528������ٶ�ת���Ƕ� 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

{smartpi-0.1.7.dist-info → smartpi-0.1.9.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: smartpi
-Version: 0.1.7
+Version: 0.1.9
 Summary: A library use for H2-RCU
 Author: ZMROBO
 Classifier: Programming Language :: Python :: 3

{smartpi-0.1.7.dist-info → smartpi-0.1.9.dist-info}/RECORD

@@ -1,18 +1,18 @@
-smartpi/__init__.py,sha256=ZclPhHYYgwOoiYzyCuuqxUl5A8ir-wB2ebte9HfOlrg,54
-smartpi/base_driver.py,sha256=yysHuSxu15IXnupiNLzMFk5OLs8BhLBgMeBTKgNRxw0,17816
+smartpi/__init__.py,sha256=1GIYn_KvjJ8KECZ8TW56CcZUERF5WVdQ-QM6gyofxlw,54
+smartpi/base_driver.py,sha256=nfvzjcVZGrRldtAeAtL4MDlEMh4qbF28gbrf1-71N0c,17994
 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/motor.py,sha256=vdtLjHSwCodFkqhYh0y3l8RSl7IUlMwdNuktgQ3FdkQ,4449
+smartpi/move.py,sha256=MUu1Hnu77gebTJLjnYq27mLYrjvBvDh9a6TWJ-GXgLk,6155
+smartpi/servo.py,sha256=_eM3ZAcBA543iVyFi8agOAXt0K3LEauxwyq7SFCpygM,4537
 smartpi/temperature.py,sha256=JeuiwsV6AUjnFQsQxgvjM3AuBrVvK5DuSE-BbX1Di2s,456
 smartpi/touch_sensor.py,sha256=jlKqvcoSmfZzH9zJeafBeVEQhxIYkkzXe4_fifX0COI,434
 smartpi/ultrasonic.py,sha256=5MS0EdQNirAl8iZbdwZ63fnjp6axHRZHw6dJwcwuXnQ,618
-smartpi-0.1.7.dist-info/METADATA,sha256=DJ35EI43vY45QcQAAjRCxTZr_ZLC9kiz3TutBikygbs,310
-smartpi-0.1.7.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
-smartpi-0.1.7.dist-info/top_level.txt,sha256=PoLhUCmWAiQUg5UeN2fS-Y1iQyBbF2rdUlizXtpHGRQ,8
-smartpi-0.1.7.dist-info/RECORD,,
+smartpi-0.1.9.dist-info/METADATA,sha256=7JJLk0Uol-2FcoiVBjYyqYhCIuKfilRYAxSuwEv4fKc,310
+smartpi-0.1.9.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+smartpi-0.1.9.dist-info/top_level.txt,sha256=PoLhUCmWAiQUg5UeN2fS-Y1iQyBbF2rdUlizXtpHGRQ,8
+smartpi-0.1.9.dist-info/RECORD,,