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Add reset_motor_encoder #161

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Merged
merged 3 commits into from
Mar 12, 2018
Merged

Add reset_motor_encoder #161

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0a3ee68
Update C++ drivers for FW version 1.0.0
Dec 12, 2017
177c350
Merge remote-tracking branch 'refs/remotes/DexterInd/master'
Mar 8, 2018
eeddd8f
Add reset method
Mar 8, 2018
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2 changes: 1 addition & 1 deletion Software/C/GoPiGo3.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -163,7 +163,7 @@ int GoPiGo3::get_version_hardware(char *str){
if(int error = spi_read_32(GPGSPI_MESSAGE_GET_HARDWARE_VERSION, value)){
return error;
}
sprintf(str, "%d.%d.%d", (value / 1000000), ((value / 1000) % 1000), (value % 1000));
sprintf(str, "%d.x.x", (value / 1000000));
}

int GoPiGo3::get_version_firmware(char *str){
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6 changes: 3 additions & 3 deletions Software/C/GoPiGo3.h
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Expand Up @@ -12,10 +12,10 @@
#ifndef GoPiGo3_h_
#define GoPiGo3_h_

#define FIRMWARE_VERSION_REQUIRED "0.3." // Firmware version needs to start with this
#define FIRMWARE_VERSION_REQUIRED "1.0." // Firmware version needs to start with this

#define LONGEST_I2C_TRANSFER 16 // longest possible I2C read/write
#define LONGEST_SPI_TRANSFER 24 // spi_read_string 20 chars (LONGEST_I2C_TRANSFER + 6) // longest possible message for configuring for an I2C sensor
#define LONGEST_I2C_TRANSFER 32 // longest possible I2C read/write
#define LONGEST_SPI_TRANSFER (LONGEST_I2C_TRANSFER + 6) // at least 24 for spi_read_string 20 chars, and at least LONGEST_I2C_TRANSFER + 6 for I2C transactions

#define SPI_TARGET_SPEED 500000 // SPI target speed of 500kbps

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13 changes: 13 additions & 0 deletions Software/Python/gopigo3.py
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Expand Up @@ -583,6 +583,19 @@ def offset_motor_encoder(self, port, offset):
((offset >> 24) & 0xFF), ((offset >> 16) & 0xFF), ((offset >> 8) & 0xFF), (offset & 0xFF)]
self.spi_transfer_array(outArray)

def reset_motor_encoder(self, port):
"""
Reset a motor encoder to 0

Keyword arguments:
port -- The motor port(s). MOTOR_LEFT and/or MOTOR_RIGHT.
"""
if port & self.MOTOR_LEFT:
self.offset_motor_encoder(self.MOTOR_LEFT, self.get_motor_encoder(self.MOTOR_LEFT))

if port & self.MOTOR_RIGHT:
self.offset_motor_encoder(self.MOTOR_RIGHT, self.get_motor_encoder(self.MOTOR_RIGHT))

def set_grove_type(self, port, type):
"""
Set grove type
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