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- Pololu1376: take enums as variable id

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- stirrerPololu1376: Make for robust against motor cable plug
This commit is contained in:
jens
2021-08-12 20:13:47 +01:00
parent ebd5d4cd5e
commit 0843f1d87a
2 changed files with 33 additions and 17 deletions
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components/actor/pololu1376.py
+14 -13
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@@ -106,22 +106,23 @@ class Pololu1376:
return self.cmd("V")
def get_variable(self, var):
return self.cmd("D" + str(var))
return int(self.cmd("D" + str(var.value[0])))
def print_vars(self):
print ("-------------------------------------------")
print ("STATUS : {:04X}".format(int(self.get_variable(Varid.STATUS.value[0]))))
print ("STATUS_ERROR_OCCURED : {:04X}".format(int(self.get_variable(Varid.STATUS_SERIAL_ERRORS_OCCURED.value[0]))))
print ("STATUS_LIMIT_STATUS : {:04X}".format(int(self.get_variable(Varid.STATUS_LIMIT_STATUS.value[0]))))
print ("RC_RC1_SCALED_VALUE : {:04X}".format(int(self.get_variable(Varid.RC_RC1_SCALED_VALUE.value[0]))))
print ("RC_RC2_SCALED_VALUE : {:04X}".format(int(self.get_variable(Varid.RC_RC2_SCALED_VALUE.value[0]))))
print ("ANALOG_AN1_SCALED_VALUE : {:04X}".format(int(self.get_variable(Varid.ANALOG_AN1_SCALED_VALUE.value[0]))))
print ("ANALOG_AN2_SCALED_VALUE : {:04X}".format(int(self.get_variable(Varid.ANALOG_AN2_SCALED_VALUE.value[0]))))
print ("DIAGNOSTIC_TARGET_SPEED : {:04X}".format(int(self.get_variable(Varid.DIAGNOSTIC_TARGET_SPEED.value[0]))))
print ("DIAGNOSTIC_SPEED : {:04X}".format(int(self.get_variable(Varid.DIAGNOSTIC_SPEED.value[0]))))
print ("DIAGNOSTIC_TEMPERATURE_A : {:04X}".format(int(self.get_variable(Varid.DIAGNOSTIC_TEMPERATURE_A.value[0]))))
print ("DIAGNOSTIC_TEMPERATURE_B : {:04X}".format(int(self.get_variable(Varid.DIAGNOSTIC_TEMPERATURE_B.value[0]))))
print ("MOTOR_CURRENT_MA : {:04X}".format(int(self.get_variable(Varid.MOTOR_CURRENT_MA.value[0]))))
print ("STATUS : {:04X}".format(self.get_variable(Varid.STATUS)))
print ("STATUS_ERROR_OCCURED : {:04X}".format(self.get_variable(Varid.STATUS_SERIAL_ERRORS_OCCURED)))
print ("STATUS_LIMIT_STATUS : {:04X}".format(self.get_variable(Varid.STATUS_LIMIT_STATUS)))
print ("RC_RC1_SCALED_VALUE : {:04X}".format(self.get_variable(Varid.RC_RC1_SCALED_VALUE)))
print ("RC_RC2_SCALED_VALUE : {:04X}".format(self.get_variable(Varid.RC_RC2_SCALED_VALUE)))
print ("ANALOG_AN1_SCALED_VALUE : {:04X}".format(self.get_variable(Varid.ANALOG_AN1_SCALED_VALUE)))
print ("ANALOG_AN2_SCALED_VALUE : {:04X}".format(self.get_variable(Varid.ANALOG_AN2_SCALED_VALUE)))
print ("DIAGNOSTIC_TARGET_SPEED : {:04X}".format(self.get_variable(Varid.DIAGNOSTIC_TARGET_SPEED)))
print ("DIAGNOSTIC_SPEED : {:04X}".format(self.get_variable(Varid.DIAGNOSTIC_SPEED)))
print ("DIAGNOSTIC_TEMPERATURE_A : {:04X}".format(self.get_variable(Varid.DIAGNOSTIC_TEMPERATURE_A)))
print ("DIAGNOSTIC_TEMPERATURE_B : {:04X}".format(self.get_variable(Varid.DIAGNOSTIC_TEMPERATURE_B)))
# print ("MOTOR_CURRENT_RAW : {:04X}".format(self.get_variable(Varid.MOTOR_CURRENT_RAW)))
# print ("MOTOR_CURRENT_MA : {:04X}".format(self.get_variable(Varid.MOTOR_CURRENT_MA)))
if __name__ == '__main__':