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更新PE-G1库，同时支持MBD电机驱动库

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dahanzimin
2026-01-05 11:43:01 +08:00
parent b670920167
commit c9f37bbadf
1 changed files with 73 additions and 59 deletions
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132
boards/default_src/micropython/origin/build/lib/pe_g1.py
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@@ -1,30 +1,31 @@
"""
PE_G1
Micropython library for the PE_G1(Motor*5*2 & Servo*4)
=======================================================
#Preliminary composition 20230120
Micropython library for
PE_G1 (Motor*5*2 & Servo*4)
MDB (Motor*4*2 & Servo*6)
===============================
@dahanzimin From the Mixly Team
"""
from time import sleep_ms
from micropython import const
_PE_G1_ADDRESS = const(0x25)
_PE_G1_ID = const(0x00)
_PE_G1_VBAT = const(0x01)
_PE_G1_MOTOR = const(0x03)
_PE_G1_SERVO = const(0x0D)
_PE_G1_OFF = const(0x16)
_PE_GX_ADDRESS = const(0x25)
_PE_GX_ID = const(0x00)
_PE_GX_VBAT = const(0x01)
_PE_GX_MOTOR = const(0x03)
class PE_G1:
def __init__(self, i2c_bus, addr=_PE_G1_ADDRESS):
self._i2c=i2c_bus
def __init__(self, i2c_bus, addr=_PE_GX_ADDRESS):
self._i2c = i2c_bus
self._addr = addr
sleep_ms(500)
if self._rreg(_PE_G1_ID)!= 0x25:
raise AttributeError("Cannot find a PE_G1")
if self._rreg(_PE_GX_ID) == 0x25:
self._PE_GX_SERVO = 0x0D
self._type = 1 #PE_G1
elif self._rreg(_PE_GX_ID) == 0x26:
self._PE_GX_SERVO = 0x0B
self._type = 2 #MDB
else:
raise AttributeError("Cannot find a PE_G1 or MDB")
self.reset()
def _wreg(self, reg, val):
@@ -38,75 +39,88 @@ class PE_G1:
'''Read memory address'''
try:
self._i2c.writeto(self._addr, reg.to_bytes(1, 'little'))
return self._i2c.readfrom(self._addr, nbytes)[0] if nbytes<=1 else self._i2c.readfrom(self._addr, nbytes)[0:nbytes]
return self._i2c.readfrom(self._addr, nbytes)[0] if nbytes <= 1 else self._i2c.readfrom(self._addr, nbytes)
except:
return 0
def reset(self):
"""Reset all registers to default state"""
for reg in range(_PE_G1_MOTOR,_PE_G1_MOTOR+18):
self._wreg(reg,0x00)
if self._type == 1:
self._i2c.writeto_mem(self._addr, _PE_GX_MOTOR, bytes(18))
if self._type == 2:
self._i2c.writeto_mem(self._addr, _PE_GX_MOTOR, bytes(20))
def read_bat(self,ratio=0.0097):
def read_bat(self, ratio=1):
'''Read battery power'''
vbat= self._rreg(_PE_G1_VBAT)<<2 | self._rreg(_PE_G1_VBAT+1)>>6
return round(vbat*ratio,2)
def m_pwm(self,index,duty=None):
"""Motor*5*2 PWM duty cycle data register"""
if not 0 <= index <= 9:
raise ValueError("Motor port must be a number in the range: 0~9")
vbat = self._rreg(_PE_GX_VBAT) << 2 | self._rreg(_PE_GX_VBAT+1) >> 6
if self._type == 1:
return round(vbat * ratio * 0.00968, 2)
if self._type == 2:
return round(vbat * ratio * 0.01398, 2)
def m_pwm(self, index, duty=None):
"""Motor PWM duty cycle data register"""
if self._type == 1: # Motor*5*2
if not 0 <= index <= 9:
raise ValueError("Motor port must be a number in the range: 0~4")
if self._type == 2: # Motor*4*2
if not 0 <= index <= 7:
raise ValueError("Motor port must be a number in the range: 0~3")
if duty is None:
return self._rreg(_PE_G1_MOTOR+index)
return self._rreg(_PE_GX_MOTOR + index)
else:
if not 0 <= duty <= 255:
raise ValueError("Duty must be a number in the range: 0~255")
self._wreg(_PE_G1_MOTOR+index,duty)
self._wreg(_PE_GX_MOTOR + index, duty)
def s_pwm(self,index,duty=None):
"""Servo*4 PWM duty cycle data register"""
if not 0 <= index <= 3:
raise ValueError("Servo port must be a number in the range: 0~3")
def s_pwm(self, index, duty=None):
"""Servo PWM duty cycle data register"""
if self._type == 1: # Servo*4
if not 0 <= index <= 3:
raise ValueError("Servo port must be a number in the range: 0~3")
if self._type == 2: # Servo*6
if not 0 <= index <= 5:
raise ValueError("Servo port must be a number in the range: 0~5")
if duty is None:
return self._rreg(_PE_G1_SERVO+index*2)<<8 | self._rreg(_PE_G1_SERVO+index*2+1)
return self._rreg(self._PE_GX_SERVO + index * 2) << 8 | self._rreg(self._PE_GX_SERVO + index * 2 + 1)
else:
if not 0 <= duty <= 4095:
raise ValueError("Duty must be a number in the range: 0~4095")
self._wreg(_PE_G1_SERVO+index*2,duty>>8)
self._wreg(_PE_G1_SERVO+index*2+1,duty&0xff)
self._wreg(self._PE_GX_SERVO + index * 2,duty >> 8)
self._wreg(self._PE_GX_SERVO + index * 2 + 1,duty & 0xff)
def motor(self,index,action,speed=0):
def motor(self, index, action="NC", speed=0):
if not 0 <= speed <= 100:
raise ValueError("Speed parameters must be a number in the range: 0~100")
if action=="N":
self.m_pwm(index*2,0)
self.m_pwm(index*2+1,0)
elif action=="P":
self.m_pwm(index*2,255)
self.m_pwm(index*2+1,255)
elif action=="CW":
self.m_pwm(index*2,0)
self.m_pwm(index*2+1,speed*255//100)
elif action=="CCW":
self.m_pwm(index*2,speed*255//100)
self.m_pwm(index*2+1,0)
elif action=="NC":
return round(self.m_pwm(index*2)*100/255),round(self.m_pwm(index*2+1)*100/255)
if action == "N":
self.m_pwm(index * 2, 0)
self.m_pwm(index * 2 + 1, 0)
elif action == "P":
self.m_pwm(index * 2, 255)
self.m_pwm(index * 2 + 1, 255)
elif action == "CW":
self.m_pwm(index * 2, 0)
self.m_pwm(index * 2 + 1, speed * 255 // 100)
elif action == "CCW":
self.m_pwm(index * 2, speed * 255 // 100)
self.m_pwm(index * 2 + 1, 0)
elif action == "NC":
return round(self.m_pwm(index * 2) * 100 / 255), round(self.m_pwm(index * 2 + 1) * 100 / 255)
else:
raise ValueError('Invalid input, valid are "N","P","CW","CCW"')
def servo180(self,index,angle=None):
def servo180(self, index, angle=None):
if angle is None:
return round((self.s_pwm(index)-102.375)*180/409.5)
return round((self.s_pwm(index) - 102.375) * 180 / 409.5)
else:
if not 0 <= angle <= 180:
raise ValueError("Servo(180) angle must be a number in the range: 0~180")
self.s_pwm(index,round(102.375 + 409.5/180 * angle))
self.s_pwm(index,round(102.375 + 409.5 / 180 * angle))
def servo360(self,index,speed=None):
def servo360(self, index, speed=None):
if speed is None:
return round((self.s_pwm(index)-102.375)*200/409.5-100)
return round((self.s_pwm(index) - 102.375) * 200 / 409.5 - 100)
else:
if not -100<= speed <= 100:
if not -100 <= speed <= 100:
raise ValueError("Servo(360) speed must be a number in the range: -100~100")
self.s_pwm(index,round(102.375 + 409.5/200 * (speed+100)))
self.s_pwm(index,round(102.375 + 409.5 / 200 * (speed + 100)))