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Tinyu
97 lines
3.2 KiB
Python
97 lines
3.2 KiB
Python
# SPDX-FileCopyrightText: 2024 M5Stack Technology CO LTD
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#
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# SPDX-License-Identifier: MIT
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import os, sys, io
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import M5
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from M5 import *
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from hardware import *
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from unit import RollerCANUnit
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from unit import CANUnit
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title0 = None
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label0 = None
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label1 = None
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label2 = None
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label3 = None
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label4 = None
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can_0 = None
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rollercan_0 = None
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mode = None
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output = None
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def btna__event(state):
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global title0, label0, label1, label2, label3, label4, can_0, rollercan_0, mode, output
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mode = mode + 1
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if mode > 4:
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mode = 1
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rollercan_0.set_motor_mode(mode)
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def btnb__event(state):
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global title0, label0, label1, label2, label3, label4, can_0, rollercan_0, mode, output
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output = output ^ (0x01 << 0)
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rollercan_0.set_motor_output_state(output)
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def setup():
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global title0, label0, label1, label2, label3, label4, can_0, rollercan_0, mode, output
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M5.begin()
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Widgets.fillScreen(0x222222)
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title0 = Widgets.Title("RollerCAN CAN Example", 3, 0xFFFFFF, 0x0000FF, Widgets.FONTS.DejaVu18)
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label0 = Widgets.Label("mode:", 1, 63, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu18)
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label1 = Widgets.Label("motor state:", 2, 108, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu18)
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label2 = Widgets.Label("speed:", 2, 152, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu18)
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label3 = Widgets.Label("mode", 40, 215, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu18)
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label4 = Widgets.Label("on/off", 126, 215, 1.0, 0xFFFFFF, 0x222222, Widgets.FONTS.DejaVu18)
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BtnA.setCallback(type=BtnA.CB_TYPE.WAS_CLICKED, cb=btna__event)
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BtnB.setCallback(type=BtnB.CB_TYPE.WAS_CLICKED, cb=btnb__event)
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can_0 = CANUnit((13, 15), CANUnit.NORMAL, baudrate=1000000)
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rollercan_0 = RollerCANUnit(can_0, address=0xA8, mode=RollerCANUnit.CAN_MODE)
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rollercan_0.set_motor_output_state(0)
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output = 0
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mode = rollercan_0.get_motor_mode()
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label0.setText(str((str("mode:") + str(mode))))
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label1.setText(str((str("motor state:") + str(output))))
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def loop():
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global title0, label0, label1, label2, label3, label4, can_0, rollercan_0, mode, output
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M5.update()
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label0.setText(str((str("mode:") + str(mode))))
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label1.setText(str((str("motor state:") + str(output))))
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if mode == 1:
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rollercan_0.set_motor_speed(20000)
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rollercan_0.set_speed_max_current(400)
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label2.setText(str((str("speed:") + str((rollercan_0.get_motor_speed_readback())))))
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elif mode == 2:
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rollercan_0.set_motor_position(1000)
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rollercan_0.set_position_max_current(400)
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label2.setText(str((str("position:") + str((rollercan_0.get_motor_position_readback())))))
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elif mode == 3:
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rollercan_0.set_motor_max_current(400)
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label2.setText(str((str("current:") + str((rollercan_0.get_motor_current_readback())))))
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elif mode == 4:
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label2.setText(str((str("encoder:") + str((rollercan_0.get_encoder_value())))))
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if __name__ == "__main__":
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try:
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setup()
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while True:
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loop()
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except (Exception, KeyboardInterrupt) as e:
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try:
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from utility import print_error_msg
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print_error_msg(e)
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except ImportError:
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print("please update to latest firmware")
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