dynamikontrol package

Submodules

dynamikontrol.LED module

class dynamikontrol.LED.LED(module)

Bases: object

LED submodule class.

from dynamikontrol import Module
import time

module = Module()

module.led.blink(color='r') # blink red
module.led.toggle(color='g') # toggle green

while True:
    module.led.on(color='y') # turn on yellow
    time.sleep(0.1)

    module.led.off(color='y') # turn off yellow
    time.sleep(0.1)

module.disconnect()

Parameters

module (object) – Module object.

blink(color='all', on_delay=0.256, off_delay=0.256)

Blink the LED light periodically.

Parameters

• color (str, optional) – Color of the LED light. r, y or g. Defaults to all.

• on_delay (float, optional) – Delay time for turned-on status. on_delay must be between 0.0 to 65.0 in second. Defaults to 0.256.

• off_delay (float, optional) – Delay time for turned-off status. off_delay must be between 0.0 to 65.0 in second. Defaults to 0.256.

off(color='all')

Turn off the LED light

Parameters

color (str, optional) – Color of the LED light. r, y or g. Defaults to all.

on(color='all')

Turn on the LED light.

Parameters

color (str, optional) – Color of the LED light. r, y or g. Defaults to all.

toggle(color='all')

Toggle the LED light. Turn off while the light on status and turn on while the light off.

Parameters

color (str, optional) – Color of the LED light. r, y or g. Defaults to all.

dynamikontrol.Module module

class dynamikontrol.Module.Module(serial_no=None, debug=False)

Bases: object

Module class.

from dynamikontrol import Module

module = Module(serial_no) # specify the module by serial number

# Print module serial number
print('Serial number: %s' % (module.get_serial_no(),)

module.disconnect()

Parameters

• serial_no (str) – Specify serial number of the module.

• debug (bool) – print debug messages.

connect()

Connect to the module.

disconnect()

Close the connection of the module. Must include module.disconnect() at the end of the code so that module can close connection properly.

get_fw_version()

Get firmware version of the connected module.

Returns

Device firmware version.

Return type

str

get_id()

Get ID of the connected module.

Returns

Module ID.

Return type

int

get_serial_no()

Get serial number of the connected module.

Returns

Serial number.

Return type

str

get_time()

Get device time of the connected module.

Returns

Device time.

Return type

datetime

send(data)

Send the data to the module

Parameters

data (bytearray of int) – Data to send.

set_default_switch_operation(on)

Set either turn default switch operation on or not. Motor is spinning when switch is pressed by default.

Parameters

on (bool) – Set default operation on or off.

dynamikontrol.Motor module

class dynamikontrol.Motor.BLDC(module)

Bases: object

BLDC(Speed) motor submodule class.

from dynamikontrol import Module
import time

module = Module()

module.motor.speed(1000)
time.sleep(5)
module.motor.stop()

module.disconnect()

Parameters

module (object) – Module object.

get_speed(func, unit='rpm')

Get speed of the motor asynchronously.

from dynamikontrol import Module
import time

module = Module()

module.motor.speed(4000, period=10)

def get_speed_cb(speed):
    print('Current Speed', speed)

for i in range(60):
    time.sleep(0.5)
    module.motor.get_speed(func=get_speed_cb)

module.disconnect()

Parameters

• func (function) – Callback function when getting speed from the motor.

• unit (str, optional) – Speed unit must be one of rpm, deg/s and rad/s. Defaults to 'rpm'.

speed(speed, period=None, unit='rpm', func=None, args=(), kwargs={})

Control speed of the motor.

Parameters

• speed (int) – If speed > 0 spins along clockwise, otherwise spins along counter clockwise.

• period (int, optional) – Control period. period must be between 0.0 to 65.0 in second. Defaults to None.

• unit (str, optional) – Speed unit must be one of rpm, deg/s and rad/s. Defaults to 'rpm'.

• func (function, optional) – Callback function when motor has been stopped. Defaults to None.

• args (tuple, optional) – args for callback function. Defaults to ().

• kwargs (dict, optional) – kwargs for callback function. Defaults to {}.

stop()

Stop the motor immediately.

class dynamikontrol.Motor.Motor(module)

Bases: object

angle(*args, **kwargs)

get_offset(*args, **kwargs)

get_speed(*args, **kwargs)

set_offset(*args, **kwargs)

speed(*args, **kwargs)

stop(*args, **kwargs)

class dynamikontrol.Motor.Servo(module)

Bases: object

Servo(Angle) motor submodule class.

from dynamikontrol import Module
import time

module = Module()

module.motor.angle(0)
time.sleep(2)

while True:
    module.motor.angle(45)
    time.sleep(2)

    def cb(string):
        print(string)

    module.motor.angle(-45, func=cb, args=('hello',)) # print 'hello' when motor stopped at -45 degree.
    time.sleep(2)

module.disconnect()

Parameters

module (object) – Module object.

angle(angle, period=None, func=None, args=(), kwargs={})

Control the angle of motor.

Parameters

• angle (int) – If angle > 0 moves along clockwise, otherwise moves along counter clockwise. angle must be between -85 to 85 in degrees.

• period (float, optional) – Control period. period must be between 0.0 to 65.0 in second. Defaults to None.

• func (function, optional) – Callback function when motor has been stopped. Defaults to None.

• args (tuple, optional) – args for callback function. Defaults to ().

• kwargs (dict, optional) – kwargs for callback function. Defaults to {}.

get_offset()

Get offset of the motor.

Returns

Offset of the motor in degree.

Return type

float

set_offset(angle)

Set offset of the motor. If the motor angle is inclined slightly even angle set to 0, you can adjust offset of the motor manually.

Parameters

angle (float) – Offset of the motor in degree. e.g) 17.5

dynamikontrol.Switch module

class dynamikontrol.Switch.Switch(module)

Bases: object

Switch submodule class.

from dynamikontrol import Module
import time

module = Module()

def callback(string, angle):
    print(string)
    module.motor.angle(angle)

module.switch.press(callback, ('Switched to on', 85,))
module.switch.release(callback, ('Switched to off', 0,))

while True:
    time.sleep(1)

module.disconnect()

Parameters

module (object) – Module object.

off(func, args=(), kwargs={}, ch=0)

Define callback function when switch is set to off status.

Parameters

• func (function) – Callback function.

• args (tuple, optional) – args. Defaults to ().

• kwargs (dict, optional) – kwargs. Defaults to {}.

• ch (int, optional) – Switch channel number. Must be 0 or 1. Defaults to 0.

on(func, args=(), kwargs={}, ch=0)

Define callback function when switch is set to on status.

Parameters

• func (function) – Callback function.

• args (tuple, optional) – args. Defaults to ().

• kwargs (dict, optional) – kwargs. Defaults to {}.

• ch (int, optional) – Switch channel number. Must be 0 or 1. Defaults to 0.

press(*args, **kwargs)

Define callback function when switch is pressed. Exactly same as on method.

release(*args, **kwargs)

Define callback function when switch is released. Exactly same as off method.

dynamikontrol.Timer module

class dynamikontrol.Timer.Timer

Bases: object

General timer class.

from dynamikontrol import Module, Timer
import time

t1 = Timer()
t2 = Timer()

module = Module()

t1.callback_at(func=module.led.toggle, args=('r',), at='2021-03-02 19:46:30', interval=0.1)

t2.callback_after(func=module.led.toggle, args=('g',), after=1, interval=0.1)

time.sleep(5)

t1.stop()
t2.stop()

module.disconnect()

callback_after(func, args=(), kwargs={}, after=0, interval=None)

Call the callback function after specific time.

Parameters

• func (function) – Callback function.

• args (tuple, optional) – args. Defaults to ().

• kwargs (dict, optional) – kwargs. Defaults to {}.

• after (int, optional) – Callback delay time in seconds. Defaults to 0.

• interval (int, optional) – Callback interval time in seconds. Defaults to None.

callback_at(func, args=(), kwargs={}, at=None, interval=None)

Call the callback function at specific time.

Parameters

• func (function) – Callback function.

• args (tuple, optional) – args. Defaults to ().

• kwargs (dict, optional) – kwargs. Defaults to {}.

• at (datetime str, optional) – Callback time in datetime str. e.g) 2021-03-04 21:57:30. Defaults to None.

• interval ([type], optional) – Callback interval time in seconds. Defaults to None.

stop()

Stop the timer.

Module contents