Sign upLogin

gunthercox/Salvius

View on GitHub
Star
docs/_modules/salvius/hbridge.html

Summary

Maintainability
Test Coverage

<!DOCTYPE html>

<html>
  <head>
    <meta charset="utf-8" />
    <title>salvius.hbridge &#8212; Salvius 0.0.1 documentation</title>
    <link rel="stylesheet" href="../../_static/alabaster.css" type="text/css" />
    <link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
    <script id="documentation_options" data-url_root="../../" src="../../_static/documentation_options.js"></script>
    <script src="../../_static/jquery.js"></script>
    <script src="../../_static/underscore.js"></script>
    <script src="../../_static/doctools.js"></script>
    <script src="../../_static/language_data.js"></script>
    <link rel="index" title="Index" href="../../genindex.html" />
    <link rel="search" title="Search" href="../../search.html" />
   
  <link rel="stylesheet" href="../../_static/custom.css" type="text/css" />
  
  
  <meta name="viewport" content="width=device-width, initial-scale=0.9, maximum-scale=0.9" />

  </head><body>
  

    <div class="document">
      <div class="documentwrapper">
        <div class="bodywrapper">
          

          <div class="body" role="main">
            
  <h1>Source code for salvius.hbridge</h1><div class="highlight"><pre>
<span></span><span class="kn">from</span> <span class="nn">zorg.driver</span> <span class="k">import</span> <span class="n">Driver</span>
<span class="kn">from</span> <span class="nn">zorg_gpio</span> <span class="k">import</span> <span class="n">Relay</span>


<div class="viewcode-block" id="HBridge"><a class="viewcode-back" href="../../salvius.html#salvius.hbridge.HBridge">[docs]</a><span class="k">class</span> <span class="nc">HBridge</span><span class="p">(</span><span class="n">Driver</span><span class="p">):</span>
    <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">    A h-bridge base class.</span>
<span class="sd">    &quot;&quot;&quot;</span>

    <span class="k">def</span> <span class="nf">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">options</span><span class="p">,</span> <span class="n">connection</span><span class="p">):</span>
        <span class="nb">super</span><span class="p">(</span><span class="n">HBridge</span><span class="p">,</span> <span class="bp">self</span><span class="p">)</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">options</span><span class="p">,</span> <span class="n">connection</span><span class="p">)</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">state</span> <span class="o">=</span> <span class="mi">0</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">commands</span> <span class="o">+=</span> <span class="p">[</span>
            <span class="s1">&#39;turn_off&#39;</span><span class="p">,</span>
            <span class="s1">&#39;rotate_clockwise&#39;</span><span class="p">,</span>
            <span class="s1">&#39;rotate_counterclockwise&#39;</span>
        <span class="p">]</span>

<div class="viewcode-block" id="HBridge.RelayException"><a class="viewcode-back" href="../../salvius.html#salvius.hbridge.HBridge.RelayException">[docs]</a>    <span class="k">class</span> <span class="nc">RelayException</span><span class="p">(</span><span class="ne">Exception</span><span class="p">):</span>

        <span class="k">def</span> <span class="nf">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">value</span><span class="p">):</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">value</span> <span class="o">=</span> <span class="n">value</span>

        <span class="k">def</span> <span class="nf">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
            <span class="k">return</span> <span class="nb">repr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">value</span><span class="p">)</span></div></div>


<div class="viewcode-block" id="RelayHBridge"><a class="viewcode-back" href="../../salvius.html#salvius.hbridge.RelayHBridge">[docs]</a><span class="k">class</span> <span class="nc">RelayHBridge</span><span class="p">(</span><span class="n">HBridge</span><span class="p">):</span>
    <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">    A relay h-bridge driver class.</span>
<span class="sd">    &quot;&quot;&quot;</span>

    <span class="k">def</span> <span class="nf">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">options</span><span class="p">,</span> <span class="n">connection</span><span class="p">):</span>
        <span class="nb">super</span><span class="p">(</span><span class="n">RelayHBridge</span><span class="p">,</span> <span class="bp">self</span><span class="p">)</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">options</span><span class="p">,</span> <span class="n">connection</span><span class="p">)</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">relays</span> <span class="o">=</span> <span class="p">[]</span>
        <span class="n">pins</span> <span class="o">=</span> <span class="n">options</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s1">&#39;pins&#39;</span><span class="p">,</span> <span class="p">[])</span>

        <span class="c1"># Raise exception if four pins have not been provided</span>
        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">pins</span><span class="p">)</span> <span class="o">!=</span> <span class="mi">4</span><span class="p">:</span>
            <span class="k">raise</span> <span class="bp">self</span><span class="o">.</span><span class="n">RelayException</span><span class="p">(</span>
                <span class="s1">&#39;</span><span class="si">{}</span><span class="s1"> pins were given when 4 were expected&#39;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">pins</span><span class="p">))</span>
            <span class="p">)</span>

        <span class="k">for</span> <span class="n">pin</span> <span class="ow">in</span> <span class="n">pins</span><span class="p">:</span>
            <span class="n">relay_options</span> <span class="o">=</span> <span class="n">options</span><span class="o">.</span><span class="n">copy</span><span class="p">()</span>
            <span class="n">relay_options</span><span class="p">[</span><span class="s1">&#39;pin&#39;</span><span class="p">]</span> <span class="o">=</span> <span class="n">pin</span>
            <span class="n">relay</span> <span class="o">=</span> <span class="n">Relay</span><span class="p">(</span><span class="n">relay_options</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">connection</span><span class="p">)</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">relays</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">relay</span><span class="p">)</span>

<div class="viewcode-block" id="RelayHBridge.turn_relays_off_if_on"><a class="viewcode-back" href="../../salvius.html#salvius.hbridge.RelayHBridge.turn_relays_off_if_on">[docs]</a>    <span class="k">def</span> <span class="nf">turn_relays_off_if_on</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">        Turn each relay off only if it is on.</span>
<span class="sd">        This prevents unnecessary writes to relays that are already off.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">for</span> <span class="n">relay</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">relays</span><span class="p">:</span>
            <span class="k">if</span> <span class="n">relay</span><span class="o">.</span><span class="n">is_on</span><span class="p">():</span>
                <span class="n">relay</span><span class="o">.</span><span class="n">turn_off</span><span class="p">()</span></div>

<div class="viewcode-block" id="RelayHBridge.turn_off"><a class="viewcode-back" href="../../salvius.html#salvius.hbridge.RelayHBridge.turn_off">[docs]</a>    <span class="k">def</span> <span class="nf">turn_off</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">        Turn the h-bridge off.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">state</span> <span class="o">=</span> <span class="mi">0</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">turn_relays_off_if_on</span><span class="p">()</span></div>

<div class="viewcode-block" id="RelayHBridge.rotate_clockwise"><a class="viewcode-back" href="../../salvius.html#salvius.hbridge.RelayHBridge.rotate_clockwise">[docs]</a>    <span class="k">def</span> <span class="nf">rotate_clockwise</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">        Turn the h-bridge on and set it to spin the motor clockwise.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">state</span> <span class="o">=</span> <span class="mi">1</span>

        <span class="c1"># Turn any active relays off to prevent a short circuit</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">turn_relays_off_if_on</span><span class="p">()</span>

        <span class="c1"># Set two opposite adjacent pairs of relays to opposite states</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">relays</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">turn_on</span><span class="p">()</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">relays</span><span class="p">[</span><span class="mi">3</span><span class="p">]</span><span class="o">.</span><span class="n">turn_on</span><span class="p">()</span></div>

<div class="viewcode-block" id="RelayHBridge.rotate_counterclockwise"><a class="viewcode-back" href="../../salvius.html#salvius.hbridge.RelayHBridge.rotate_counterclockwise">[docs]</a>    <span class="k">def</span> <span class="nf">rotate_counterclockwise</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">        Turn the h-bridge on and set it to spin the motor counterclockwise.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">state</span> <span class="o">=</span> <span class="o">-</span><span class="mi">1</span>

        <span class="c1"># Turn any active relays off to prevent a short circuit</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">turn_relays_off_if_on</span><span class="p">()</span>

        <span class="c1"># Set two opposite adjacent pairs of relays to opposite states</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">relays</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">turn_on</span><span class="p">()</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">relays</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span><span class="o">.</span><span class="n">turn_on</span><span class="p">()</span></div></div>


<div class="viewcode-block" id="ServoHBridge"><a class="viewcode-back" href="../../salvius.html#salvius.hbridge.ServoHBridge">[docs]</a><span class="k">class</span> <span class="nc">ServoHBridge</span><span class="p">(</span><span class="n">HBridge</span><span class="p">):</span>
    <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">    A servo h-bridge driver class.</span>
<span class="sd">    &quot;&quot;&quot;</span>

    <span class="k">def</span> <span class="nf">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">options</span><span class="p">,</span> <span class="n">connection</span><span class="p">):</span>
        <span class="nb">super</span><span class="p">(</span><span class="n">ServoHBridge</span><span class="p">,</span> <span class="bp">self</span><span class="p">)</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">options</span><span class="p">,</span> <span class="n">connection</span><span class="p">)</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">servo_angle_map</span> <span class="o">=</span> <span class="n">options</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s1">&#39;servo_angle_map&#39;</span><span class="p">,</span> <span class="p">{</span>
            <span class="o">-</span><span class="mi">1</span><span class="p">:</span> <span class="mi">50</span><span class="p">,</span>
            <span class="mi">0</span><span class="p">:</span> <span class="mi">40</span><span class="p">,</span>
            <span class="mi">1</span><span class="p">:</span> <span class="mi">32</span>
        <span class="p">})</span>

<div class="viewcode-block" id="ServoHBridge.turn_off"><a class="viewcode-back" href="../../salvius.html#salvius.hbridge.ServoHBridge.turn_off">[docs]</a>    <span class="k">def</span> <span class="nf">turn_off</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">        Turn the h-bridge off.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">state</span> <span class="o">=</span> <span class="mi">0</span>
        <span class="n">angle</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">servo_angle_map</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">state</span><span class="p">]</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">connection</span><span class="o">.</span><span class="n">servo_write</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">pin</span><span class="p">,</span> <span class="n">angle</span><span class="p">)</span></div>

<div class="viewcode-block" id="ServoHBridge.rotate_clockwise"><a class="viewcode-back" href="../../salvius.html#salvius.hbridge.ServoHBridge.rotate_clockwise">[docs]</a>    <span class="k">def</span> <span class="nf">rotate_clockwise</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">        Turn the h-bridge on and set it to spin the motor clockwise.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">state</span> <span class="o">=</span> <span class="mi">1</span>
        <span class="n">angle</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">servo_angle_map</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">state</span><span class="p">]</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">connection</span><span class="o">.</span><span class="n">servo_write</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">pin</span><span class="p">,</span> <span class="n">angle</span><span class="p">)</span></div>

<div class="viewcode-block" id="ServoHBridge.rotate_counterclockwise"><a class="viewcode-back" href="../../salvius.html#salvius.hbridge.ServoHBridge.rotate_counterclockwise">[docs]</a>    <span class="k">def</span> <span class="nf">rotate_counterclockwise</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">        Turn the h-bridge on and set it to spin the motor counterclockwise.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">state</span> <span class="o">=</span> <span class="o">-</span><span class="mi">1</span>
        <span class="n">angle</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">servo_angle_map</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">state</span><span class="p">]</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">connection</span><span class="o">.</span><span class="n">servo_write</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">pin</span><span class="p">,</span> <span class="n">angle</span><span class="p">)</span></div></div>
</pre></div>

          </div>
          
        </div>
      </div>
      <div class="sphinxsidebar" role="navigation" aria-label="main navigation">
        <div class="sphinxsidebarwrapper">
<h1 class="logo"><a href="../../index.html">Salvius</a></h1>








<h3>Navigation</h3>
<p class="caption"><span class="caption-text">Contents:</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../../salvius.html">salvius package</a></li>
</ul>

<div class="relations">
<h3>Related Topics</h3>
<ul>
  <li><a href="../../index.html">Documentation overview</a><ul>
  <li><a href="../index.html">Module code</a><ul>
  </ul></li>
  </ul></li>
</ul>
</div>
<div id="searchbox" style="display: none" role="search">
  <h3 id="searchlabel">Quick search</h3>
    <div class="searchformwrapper">
    <form class="search" action="../../search.html" method="get">
      <input type="text" name="q" aria-labelledby="searchlabel" />
      <input type="submit" value="Go" />
    </form>
    </div>
</div>
<script>$('#searchbox').show(0);</script>
        </div>
      </div>
      <div class="clearer"></div>
    </div>
    
    <div class="footer">
      &copy;2020, Gunther Cox.
      
      |
      Powered by <a href="http://sphinx-doc.org/">Sphinx 3.0.3</a>
      &amp; <a href="https://github.com/bitprophet/alabaster">Alabaster 0.7.11</a>
      
    </div>

    

    
    <script>
        (function(i,s,o,g,r,a,m){i['GoogleAnalyticsObject']=r;i[r]=i[r]||function(){
        (i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
        m=s.getElementsByTagName(o)[0];a.async=1;a.src=g;m.parentNode.insertBefore(a,m)
        })(window,document,'script','https://www.google-analytics.com/analytics.js','ga');

        ga('create', 'UA-12573345-13', 'auto');
        ga('send', 'pageview');
        </script>

  </body>
</html>