smartpi 1.1.5__py3-none-any.whl → 1.1.6__py3-none-any.whl

smartpi/servo.py

@@ -1,178 +0,0 @@
-# coding=utf-8
-import time
-from typing import List, Optional
-from smartpi import base_driver
-
-#小舵机控制 port:连接P端口；angle:角度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
-        
-#小舵机延时控制 port:连接P端口；angle:角度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
-        
-#数字舵机设置转动方向(绝对角度) port:连接P端口；dir:0:不跨越0°;1:最短距离旋转;2:顺时针旋转;3:逆时针旋转
-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数字舵机以速度转至角度 port:连接P端口；angle:角度(0~360)；speed:速度(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
-        
-#数字舵机转动到角度延时时间 port:连接P端口；angle:角度(0~360)；ms:延时时间(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
-
-#数字舵机复位 port:连接P端口；
-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
-        
-#获取数字舵机角度 port:连接P端口；
-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
-        
-#数字舵机速度转动 port:连接P端口；
-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      
-        
-#数字舵机编码转动 port:连接P端口；code:编码(0~65535)；speed:速度(-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  
-
-#数字舵机编码值清零 port:连接P端口；
-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
-        
-#获取数字舵机编码值 port:连接P端口；
-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

@@ -1,18 +0,0 @@
-# coding=utf-8
-import time
-from typing import List, Optional
-from smartpi import base_driver
-
-
-#温度读取 port:连接P端口；正常返回：温度数据; 读取错误：-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/touch_sensor.py

@@ -1,16 +0,0 @@
-# coding=utf-8
-import time
-from typing import List, Optional
-from smartpi import base_driver
-
-#触碰传感器 port:连接P端口  正常返回：1、0; 读取错误：-1  
-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
-    else:
-        return response[4]
-        

smartpi/trace.py

@@ -1,120 +0,0 @@
-# coding=utf-8
-import time,fcntl,serial,threading
-from typing import List, Optional
-from smartpi import base_driver
-
-# 串口配置参数
-SERIAL_PORT = "/dev/ttyS3"  # 串口设备路径
-BAUD_RATE = 921600          # 波特率
-TIMEOUT = 0.1                # 读取超时时间（秒）
-
-ser = serial.Serial(
-            port=SERIAL_PORT,
-            baudrate=BAUD_RATE,
-            bytesize=serial.EIGHTBITS,  # 8位数据位
-            parity=serial.PARITY_NONE,  # 无校验位
-            stopbits=serial.STOPBITS_ONE,  # 1位停止位
-            timeout=TIMEOUT,
-            xonxoff=False,  # 关闭软件流控
-            rtscts=False,   # 关闭硬件流控        
-        )
-        
-# 创建全局线程锁
-serial_lock = threading.RLock()
-
-#循迹卡单通道阈值比较后的布尔值读取 port:连接P端口；chn:检测通道1~7；正常返回：通道布尔值; 读取错误：None
-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
-    else:
-        return response[4]
-
-#循迹卡设置各通道颜色 port:连接P端口；color1~color7:7个通道彩灯的颜色1~7(红、绿、蓝、黄、紫、青、白)
-def set_chn_color(port:bytes, color1:bytes, color2:bytes, color3:bytes, color4:bytes, color5:bytes, color6:bytes, color7:bytes) -> Optional[bytes]:
-    trace_str=[0xA0, 0x19, 0x01, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0x71, 0x00, 0xBE]
-    trace_str[0]=0XA0+port
-    trace_str[4]=color1
-    trace_str[6]=color2
-    trace_str[8]=color3
-    trace_str[10]=color4
-    trace_str[12]=color5
-    trace_str[14]=color6
-    trace_str[16]=color7
-    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
-    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
-    else:
-        return response[4]
-
-#循迹卡判断是否组合图形 port:连接P端口；state:判断图形组合 1:TT 2:TL 3:TR 4:TM 5:L2 6:L1 7:L 8:M 9:R 10:R1 11:R2
-#正常返回：True/False; 读取错误：None
-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
-    else:
-        return response[4]
-        
-#循迹卡自动设置灰度阈值 port:连接P端口；second:秒数 
-def set_threshold(port:bytes, second:int) -> Optional[bytes]:
-    trace_str=[0xA0, 0x23, 0x01, 0x81, 0x00, 0x00, 0xBE]
-    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, False)
-    start_time = time.time()
-    
-    while True:
-        response =base_driver.process_received_data()
-        if response:
-            serial_lock.release()  #释放线程锁
-            fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
-            display_data = response[6:-3]
-            return display_data
-        else:
-            if time.time() - start_time > second+2:  
-                print("读取超时")
-                base_driver.buf_clear()
-                serial_lock.release()  #释放线程锁
-                fcntl.flock(ser.fileno(), fcntl.LOCK_UN)  # 释放进程锁
-                return None 
-        

smartpi/ultrasonic.py

@@ -1,20 +0,0 @@
-# coding=utf-8
-import time
-from typing import List, Optional
-from smartpi import base_driver
-        
-#超声波测距传感器 port:连接P端口  正常返回：测距数据; 读取错误：-1     
-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:
-        return None
-    else:
-        distance_data=response[4:-1]
-        distance_num=int.from_bytes(distance_data, byteorder='big', signed=True)
-        return distance_num
-