from mpython import i2c
from micropython import const
import time
MOTOR_1 = const(0x01)
"""
M1电机编号，0x01
"""
MOTOR_2 = const(0x02)
"""
M2电机编号，0x02
"""
_speed_buf = {}
[文档]def set_speed(motor_no, speed):
"""
设置电机速度
:param int motor_no: 控制电机编号，可以使用 ``MOTOR_1``, ``MOTOR_2`` ,或者直接写入电机编号。
:param int speed: 电机速度，范围-100~100，负值代表反转。
"""
global _speed_buf
speed = max(min(speed, 100), -100)
_speed_buf.update({motor_no: speed})
attempts = 0
while True:
try:
i2c.writeto(0x10, bytearray([motor_no, speed]))
except Exception as e:
attempts = attempts + 1
time.sleep_ms(500)
if attempts > 2:
break
else:
break
[文档]def get_speed(motor_no):
"""
返回电机速度
:param int motor_no: 控制电机编号，可以使用 ``MOTOR_1``, ``MOTOR_2``,或者直接写入电机编号。
:rtype: int
:return: 返回该电机速度
"""
global _speed_buf
if motor_no in _speed_buf:
return _speed_buf[motor_no]
else:
return None
[文档]def led_on(no, brightness=50):
"""
打开灯。电机接口,除了可以驱动电机,还能做灯的控制。
:param int no: 控制电机编号，可以使用 ``MOTOR_1``, ``MOTOR_2``,或者直接写入电机编号。
:param int brightness: 设置亮度,范围0~100
"""
brightness = max(min(brightness, 100), 0)
attempts = 0
while True:
try:
i2c.writeto(0x10, bytearray([no, brightness]))
except Exception as e:
attempts = attempts + 1
time.sleep_ms(500)
if attempts > 2:
break
else:
break
[文档]def led_off(no):
"""
关闭灯。
:param int no: 控制电机编号，可以使用 ``MOTOR_1``, ``MOTOR_2``,或者直接写入电机编号。
"""
attempts = 0
while True:
try:
i2c.writeto(0x10, bytearray([no, 0]))
except Exception as e:
attempts = attempts + 1
time.sleep_ms(500)
if attempts > 2:
break
else:
break