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Merge pull request #395 from dwalton76/misc
Misc
2 parents aab7a1c + dc91c1c commit 7a96951

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+150
-109
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8 files changed

+150
-109
lines changed

‎ev3dev/__init__.py‎

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -44,7 +44,7 @@ def get_current_platform():
4444
"""
4545
Look in /sys/class/board-info/ to determine the platform type.
4646
47-
This can return 'ev3', 'evb', 'pistorms', 'brickpi' or 'brickpi3'.
47+
This can return 'ev3', 'evb', 'pistorms', 'brickpi', 'brickpi3' or 'fake'.
4848
"""
4949
board_info_dir = '/sys/class/board-info/'
5050

@@ -74,6 +74,10 @@ def get_current_platform():
7474

7575
elif value == 'Dexter Industries BrickPi3':
7676
return 'brickpi3'
77+
78+
elif value == 'FAKE-SYS':
79+
return 'fake'
80+
7781
return None
7882

7983

‎ev3dev/_platform/fake.py‎

Lines changed: 17 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,17 @@
1+
2+
OUTPUT_A = 'outA'
3+
OUTPUT_B = 'outB'
4+
OUTPUT_C = 'outC'
5+
OUTPUT_D = 'outD'
6+
7+
INPUT_1 = 'in1'
8+
INPUT_2 = 'in2'
9+
INPUT_3 = 'in3'
10+
INPUT_4 = 'in4'
11+
12+
BUTTONS_FILENAME = None
13+
EVDEV_DEVICE_NAME = None
14+
15+
LEDS = {}
16+
LED_GROUPS = {}
17+
LED_COLORS = {}

‎ev3dev/button.py‎

Lines changed: 3 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -60,6 +60,9 @@
6060
elif platform == 'brickpi3':
6161
from ev3dev._platform.brickpi3 import BUTTONS_FILENAME, EVDEV_DEVICE_NAME
6262

63+
elif platform == 'fake':
64+
from ev3dev._platform.fake import BUTTONS_FILENAME, EVDEV_DEVICE_NAME
65+
6366
else:
6467
raise Exception("Unsupported platform '%s'" % platform)
6568

‎ev3dev/led.py‎

Lines changed: 3 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -52,6 +52,9 @@
5252
elif platform == 'brickpi3':
5353
from ev3dev._platform.brickpi3 import LEDS, LED_GROUPS, LED_COLORS
5454

55+
elif platform == 'fake':
56+
from ev3dev._platform.fake import LEDS, LED_GROUPS, LED_COLORS
57+
5558
else:
5659
raise Exception("Unsupported platform '%s'" % platform)
5760

‎ev3dev/motor.py‎

Lines changed: 116 additions & 105 deletions
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,7 @@
3131
import select
3232
import time
3333
from os.path import abspath
34-
from ev3dev import get_current_platform, Device
34+
from ev3dev import get_current_platform, Device, list_device_names
3535

3636
# The number of milliseconds we wait for the state of a motor to
3737
# update to 'running' in the "on_for_XYZ" methods of the Motor class
@@ -56,6 +56,9 @@
5656
elif platform == 'brickpi3':
5757
from ev3dev._platform.brickpi3 import OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D
5858

59+
elif platform == 'fake':
60+
from ev3dev._platform.fake import OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D
61+
5962
else:
6063
raise Exception("Unsupported platform '%s'" % platform)
6164

@@ -77,6 +80,110 @@ class Motor(Device):
7780
SYSTEM_CLASS_NAME = 'tacho-motor'
7881
SYSTEM_DEVICE_NAME_CONVENTION = '*'
7982

83+
__slots__ = [
84+
'_address',
85+
'_command',
86+
'_commands',
87+
'_count_per_rot',
88+
'_count_per_m',
89+
'_driver_name',
90+
'_duty_cycle',
91+
'_duty_cycle_sp',
92+
'_full_travel_count',
93+
'_polarity',
94+
'_position',
95+
'_position_p',
96+
'_position_i',
97+
'_position_d',
98+
'_position_sp',
99+
'_max_speed',
100+
'_speed',
101+
'_speed_sp',
102+
'_ramp_up_sp',
103+
'_ramp_down_sp',
104+
'_speed_p',
105+
'_speed_i',
106+
'_speed_d',
107+
'_state',
108+
'_stop_action',
109+
'_stop_actions',
110+
'_time_sp',
111+
'_poll',
112+
]
113+
114+
#: Run the motor until another command is sent.
115+
COMMAND_RUN_FOREVER = 'run-forever'
116+
117+
#: Run to an absolute position specified by `position_sp` and then
118+
#: stop using the action specified in `stop_action`.
119+
COMMAND_RUN_TO_ABS_POS = 'run-to-abs-pos'
120+
121+
#: Run to a position relative to the current `position` value.
122+
#: The new position will be current `position` + `position_sp`.
123+
#: When the new position is reached, the motor will stop using
124+
#: the action specified by `stop_action`.
125+
COMMAND_RUN_TO_REL_POS = 'run-to-rel-pos'
126+
127+
#: Run the motor for the amount of time specified in `time_sp`
128+
#: and then stop the motor using the action specified by `stop_action`.
129+
COMMAND_RUN_TIMED = 'run-timed'
130+
131+
#: Run the motor at the duty cycle specified by `duty_cycle_sp`.
132+
#: Unlike other run commands, changing `duty_cycle_sp` while running *will*
133+
#: take effect immediately.
134+
COMMAND_RUN_DIRECT = 'run-direct'
135+
136+
#: Stop any of the run commands before they are complete using the
137+
#: action specified by `stop_action`.
138+
COMMAND_STOP = 'stop'
139+
140+
#: Reset all of the motor parameter attributes to their default value.
141+
#: This will also have the effect of stopping the motor.
142+
COMMAND_RESET = 'reset'
143+
144+
#: Sets the normal polarity of the rotary encoder.
145+
ENCODER_POLARITY_NORMAL = 'normal'
146+
147+
#: Sets the inversed polarity of the rotary encoder.
148+
ENCODER_POLARITY_INVERSED = 'inversed'
149+
150+
#: With `normal` polarity, a positive duty cycle will
151+
#: cause the motor to rotate clockwise.
152+
POLARITY_NORMAL = 'normal'
153+
154+
#: With `inversed` polarity, a positive duty cycle will
155+
#: cause the motor to rotate counter-clockwise.
156+
POLARITY_INVERSED = 'inversed'
157+
158+
#: Power is being sent to the motor.
159+
STATE_RUNNING = 'running'
160+
161+
#: The motor is ramping up or down and has not yet reached a constant output level.
162+
STATE_RAMPING = 'ramping'
163+
164+
#: The motor is not turning, but rather attempting to hold a fixed position.
165+
STATE_HOLDING = 'holding'
166+
167+
#: The motor is turning, but cannot reach its `speed_sp`.
168+
STATE_OVERLOADED = 'overloaded'
169+
170+
#: The motor is not turning when it should be.
171+
STATE_STALLED = 'stalled'
172+
173+
#: Power will be removed from the motor and it will freely coast to a stop.
174+
STOP_ACTION_COAST = 'coast'
175+
176+
#: Power will be removed from the motor and a passive electrical load will
177+
#: be placed on the motor. This is usually done by shorting the motor terminals
178+
#: together. This load will absorb the energy from the rotation of the motors and
179+
#: cause the motor to stop more quickly than coasting.
180+
STOP_ACTION_BRAKE = 'brake'
181+
182+
#: Does not remove power from the motor. Instead it actively try to hold the motor
183+
#: at the current position. If an external force tries to turn the motor, the motor
184+
#: will `push back` to maintain its position.
185+
STOP_ACTION_HOLD = 'hold'
186+
80187
def __init__(self, address=None, name_pattern=SYSTEM_DEVICE_NAME_CONVENTION, name_exact=False, **kwargs):
81188

82189
if address is not None:
@@ -112,37 +219,6 @@ def __init__(self, address=None, name_pattern=SYSTEM_DEVICE_NAME_CONVENTION, nam
112219
self._time_sp = None
113220
self._poll = None
114221

115-
__slots__ = [
116-
'_address',
117-
'_command',
118-
'_commands',
119-
'_count_per_rot',
120-
'_count_per_m',
121-
'_driver_name',
122-
'_duty_cycle',
123-
'_duty_cycle_sp',
124-
'_full_travel_count',
125-
'_polarity',
126-
'_position',
127-
'_position_p',
128-
'_position_i',
129-
'_position_d',
130-
'_position_sp',
131-
'_max_speed',
132-
'_speed',
133-
'_speed_sp',
134-
'_ramp_up_sp',
135-
'_ramp_down_sp',
136-
'_speed_p',
137-
'_speed_i',
138-
'_speed_d',
139-
'_state',
140-
'_stop_action',
141-
'_stop_actions',
142-
'_time_sp',
143-
'_poll',
144-
]
145-
146222
@property
147223
def address(self):
148224
"""
@@ -491,79 +567,6 @@ def time_sp(self):
491567
def time_sp(self, value):
492568
self._time_sp = self.set_attr_int(self._time_sp, 'time_sp', value)
493569

494-
#: Run the motor until another command is sent.
495-
COMMAND_RUN_FOREVER = 'run-forever'
496-
497-
#: Run to an absolute position specified by `position_sp` and then
498-
#: stop using the action specified in `stop_action`.
499-
COMMAND_RUN_TO_ABS_POS = 'run-to-abs-pos'
500-
501-
#: Run to a position relative to the current `position` value.
502-
#: The new position will be current `position` + `position_sp`.
503-
#: When the new position is reached, the motor will stop using
504-
#: the action specified by `stop_action`.
505-
COMMAND_RUN_TO_REL_POS = 'run-to-rel-pos'
506-
507-
#: Run the motor for the amount of time specified in `time_sp`
508-
#: and then stop the motor using the action specified by `stop_action`.
509-
COMMAND_RUN_TIMED = 'run-timed'
510-
511-
#: Run the motor at the duty cycle specified by `duty_cycle_sp`.
512-
#: Unlike other run commands, changing `duty_cycle_sp` while running *will*
513-
#: take effect immediately.
514-
COMMAND_RUN_DIRECT = 'run-direct'
515-
516-
#: Stop any of the run commands before they are complete using the
517-
#: action specified by `stop_action`.
518-
COMMAND_STOP = 'stop'
519-
520-
#: Reset all of the motor parameter attributes to their default value.
521-
#: This will also have the effect of stopping the motor.
522-
COMMAND_RESET = 'reset'
523-
524-
#: Sets the normal polarity of the rotary encoder.
525-
ENCODER_POLARITY_NORMAL = 'normal'
526-
527-
#: Sets the inversed polarity of the rotary encoder.
528-
ENCODER_POLARITY_INVERSED = 'inversed'
529-
530-
#: With `normal` polarity, a positive duty cycle will
531-
#: cause the motor to rotate clockwise.
532-
POLARITY_NORMAL = 'normal'
533-
534-
#: With `inversed` polarity, a positive duty cycle will
535-
#: cause the motor to rotate counter-clockwise.
536-
POLARITY_INVERSED = 'inversed'
537-
538-
#: Power is being sent to the motor.
539-
STATE_RUNNING = 'running'
540-
541-
#: The motor is ramping up or down and has not yet reached a constant output level.
542-
STATE_RAMPING = 'ramping'
543-
544-
#: The motor is not turning, but rather attempting to hold a fixed position.
545-
STATE_HOLDING = 'holding'
546-
547-
#: The motor is turning, but cannot reach its `speed_sp`.
548-
STATE_OVERLOADED = 'overloaded'
549-
550-
#: The motor is not turning when it should be.
551-
STATE_STALLED = 'stalled'
552-
553-
#: Power will be removed from the motor and it will freely coast to a stop.
554-
STOP_ACTION_COAST = 'coast'
555-
556-
#: Power will be removed from the motor and a passive electrical load will
557-
#: be placed on the motor. This is usually done by shorting the motor terminals
558-
#: together. This load will absorb the energy from the rotation of the motors and
559-
#: cause the motor to stop more quickly than coasting.
560-
STOP_ACTION_BRAKE = 'brake'
561-
562-
#: Does not remove power from the motor. Instead it actively try to hold the motor
563-
#: at the current position. If an external force tries to turn the motor, the motor
564-
#: will `push back` to maintain its position.
565-
STOP_ACTION_HOLD = 'hold'
566-
567570
def run_forever(self, **kwargs):
568571
"""Run the motor until another command is sent.
569572
"""
@@ -726,12 +729,20 @@ def wait_while(self, s, timeout=None):
726729
return self.wait(lambda state: s not in state, timeout)
727730

728731
def _set_position_rotations(self, speed_pct, rotations):
732+
733+
# +/- speed is used to control direction, rotations must be positive
734+
assert rotations >= 0, "rotations is %s, must be >= 0" % rotations
735+
729736
if speed_pct > 0:
730737
self.position_sp = self.position + int(rotations * self.count_per_rot)
731738
else:
732739
self.position_sp = self.position - int(rotations * self.count_per_rot)
733740

734741
def _set_position_degrees(self, speed_pct, degrees):
742+
743+
# +/- speed is used to control direction, degrees must be positive
744+
assert degrees >= 0, "degrees is %s, must be >= 0" % degrees
745+
735746
if speed_pct > 0:
736747
self.position_sp = self.position + int((degrees * self.count_per_rot)/360)
737748
else:

‎ev3dev/sensor/__init__.py‎

Lines changed: 4 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,7 @@
3131
import numbers
3232
from os.path import abspath
3333
from struct import unpack
34-
from ev3dev import get_current_platform, Device
34+
from ev3dev import get_current_platform, Device, list_device_names
3535

3636

3737
# INPUT ports have platform specific values that we must import
@@ -52,6 +52,9 @@
5252
elif platform == 'brickpi3':
5353
from ev3dev._platform.brickpi3 import INPUT_1, INPUT_2, INPUT_3, INPUT_4
5454

55+
elif platform == 'fake':
56+
from ev3dev._platform.fake import INPUT_1, INPUT_2, INPUT_3, INPUT_4
57+
5558
else:
5659
raise Exception("Unsupported platform '%s'" % platform)
5760

‎utils/move_motor.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
55
where you can"t move the motor by hand.
66
"""
77

8-
from ev3dev.auto import OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, Motor
8+
from ev3dev.motor import OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, Motor
99
import argparse
1010
import logging
1111
import sys

‎utils/stop_all_motors.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
33
"""
44
Stop all motors
55
"""
6-
from ev3dev.auto import list_motors
6+
from ev3dev.motor import list_motors
77

88
for motor in list_motors():
99
motor.stop(stop_action='brake')

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