From 104407c0f4bdeb028bbeb404d31a44b484a6a182 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?V=C3=A1clav=20Jel=C3=ADnek?= <jelinva4@fel.cvut.cz>
Date: Tue, 22 Oct 2024 11:30:12 +0200
Subject: [PATCH] Add reset funciton to motor encoders
---
menu_programs/i2c_master.py | 14 ++++++++------
micropython/modules/opencube_motors/encoder_api.c | 8 ++++++++
2 files changed, 16 insertions(+), 6 deletions(-)
diff --git a/menu_programs/i2c_master.py b/menu_programs/i2c_master.py
index a2bf991..260e821 100644
--- a/menu_programs/i2c_master.py
+++ b/menu_programs/i2c_master.py
@@ -23,7 +23,9 @@ def i2c_master_run(robot):
while True:
robot.display.fill(0)
robot.display.centered_text(f"I2C master", 0, 1)
- if ADDRESS in robot.i2c_master.i2c.scan():
+ scan = robot.i2c_master.i2c.scan()
+ print(scan)
+ if ADDRESS in scan:
connected = True
robot.display.text(f"Sending: {chr(data_sending+ASCII_a)}", 0, 16, 1)
robot.display.text(f"Received: {chr(data_received_parsed)}", 0, 24, 1)
@@ -35,11 +37,11 @@ def i2c_master_run(robot):
robot.display.text('<', 0, 54, 1)
robot.display.show()
- if connected:
- robot.i2c_master.write(ADDRESS, (data_sending + ASCII_a).to_bytes(1, 'big'))
- data_received = robot.i2c_master.read(0x41, 1)
- if data_received:
- data_received_parsed = int.from_bytes(data_received, 'big')
+ print("writing")
+ robot.i2c_master.write(ADDRESS, (data_sending + ASCII_a).to_bytes(1, 'big'))
+ #data_received = robot.i2c_master.read(ADDRESS, 1)
+ #if data_received:
+ # data_received_parsed = int.from_bytes(data_received, 'big')
buttons = robot.buttons.pressed()
if buttons[Button.LEFT]:
diff --git a/micropython/modules/opencube_motors/encoder_api.c b/micropython/modules/opencube_motors/encoder_api.c
index af5f4e5..fb73bac 100644
--- a/micropython/modules/opencube_motors/encoder_api.c
+++ b/micropython/modules/opencube_motors/encoder_api.c
@@ -73,6 +73,13 @@ static mp_obj_t encoder_get_speed(mp_obj_t self_in) {
static MP_DEFINE_CONST_FUN_OBJ_1(encoder_get_speed_obj, encoder_get_speed);
+static mp_obj_t encoder_reset(mp_obj_t self_in) {
+ encoder_obj_t *self = MP_OBJ_FROM_PTR(self_in);
+ self->ref_position = opencube_encoders_get_position(self->port);
+ return mp_const_none;
+}
+static MP_DEFINE_CONST_FUN_OBJ_1(encoder_reset_obj, encoder_reset);
+
static mp_obj_t encoder_finalizer(mp_obj_t self_in) {
encoder_obj_t *self = MP_OBJ_FROM_PTR(self_in);
opencube_encoders_deinit(self->port);
@@ -84,6 +91,7 @@ static const mp_rom_map_elem_t encoder_locals_dict[] = {
{MP_ROM_QSTR(MP_QSTR_get_position), MP_ROM_PTR(&encoder_get_position_obj)},
{MP_ROM_QSTR(MP_QSTR_set_position), MP_ROM_PTR(&encoder_set_position_obj)},
{MP_ROM_QSTR(MP_QSTR_get_speed), MP_ROM_PTR(&encoder_get_speed_obj)},
+ {MP_ROM_QSTR(MP_QSTR_reset), MP_ROM_PTR(&encoder_reset_obj)},
{MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&encoder_finalizer_obj)},
};
static MP_DEFINE_CONST_DICT(encoder_locals_dict_obj, encoder_locals_dict);
--
GitLab