compAIR/compLIB
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Add encoder resetting, SPI health check

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This commit is contained in:
Konstantin Lampalzer 2021-08-23 22:13:01 +01:00
parent 63b8f868c9
commit 0f103cb34d
6 changed files with 138 additions and 80 deletions
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12
compLib/Motor.py
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@ -1,5 +1,5 @@
import atexit
from enum import Enum
from enum import IntEnum
from compLib.LogstashLogging import Logging
from compLib.Spi import Spi, Register
@ -9,7 +9,7 @@ MAX_MOTOR_SPEED = 65535
MOTOR_PERCENTAGE_MULT = MAX_MOTOR_SPEED / 100.0
class MotorMode(Enum):
class MotorMode(IntEnum):
COAST = 0,
FORWARD = 1,
BACKWARD = 2,
@ -34,16 +34,16 @@ class Motor(object):
if port == 1:
Spi.write(Register.MOTOR_1_PWM_H, 2, pwm)
Spi.write(Register.MOTOR_1_CTRL, 1, mode)
Spi.write(Register.MOTOR_1_CTRL, 1, int(mode))
elif port == 2:
Spi.write(Register.MOTOR_2_PWM_H, 2, pwm)
Spi.write(Register.MOTOR_2_CTRL, 1, mode)
Spi.write(Register.MOTOR_2_CTRL, 1, int(mode))
elif port == 3:
Spi.write(Register.MOTOR_3_PWM_H, 2, pwm)
Spi.write(Register.MOTOR_3_CTRL, 1, mode)
Spi.write(Register.MOTOR_3_CTRL, 1, int(mode))
elif port == 4:
Spi.write(Register.MOTOR_4_PWM_H, 2, pwm)
Spi.write(Register.MOTOR_4_CTRL, 1, mode)
Spi.write(Register.MOTOR_4_CTRL, 1, int(mode))
@staticmethod
def power(port: int, percent: float):