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14ff1fb436
version: sunnypilot v2026.002.000 (dev)
date: 2026-06-09T06:39:10
master commit: 01a843e0ac
45 lines
1.3 KiB
Python
45 lines
1.3 KiB
Python
# python helpers for the body panda
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import struct
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from panda import Panda
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class PandaBody(Panda):
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MOTOR_LEFT: int = 1
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MOTOR_RIGHT: int = 2
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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self._rpm_left: int = 0
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self._rpm_right: int = 0
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@property
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def rpm_left(self) -> int:
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return self._rpm_left
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@rpm_left.setter
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def rpm_left(self, value: int) -> None:
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self._rpm_left = int(value)
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xb3, self._rpm_left, self._rpm_right, b'')
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@property
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def rpm_right(self) -> int:
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return self._rpm_right
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@rpm_right.setter
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def rpm_right(self, value: int) -> None:
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self._rpm_right = int(value)
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xb3, self._rpm_left, self._rpm_right, b'')
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# ****************** Motor Control *****************
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@staticmethod
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def _ensure_valid_motor(motor: int) -> None:
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if motor not in (PandaBody.MOTOR_LEFT, PandaBody.MOTOR_RIGHT):
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raise ValueError("motor must be MOTOR_LEFT or MOTOR_RIGHT")
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def motor_get_encoder_state(self, motor: int) -> tuple[int, float]:
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self._ensure_valid_motor(motor)
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dat = self._handle.controlRead(Panda.REQUEST_IN, 0xe2, motor, 0, 8)
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position, rpm_milli = struct.unpack("<ii", dat)
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return position, rpm_milli / 1000.0
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