MD25.py 文件源码

def __init__(self, i2c_bus_number, i2c_bus_address):
        super(MD25MotorDriver, self).__init__()
        self.prev_encoder_count_1 = 0
        self.prev_encoder_count_2 = 0
        self.encoder_count_1 = 0
        self.encoder_count_2 = 0
        self.prev_delta_encoder_count_1 = 0
        self.prev_delta_encoder_count_2 = 0

        self.i2c_bus_address = i2c_bus_address
        self.i2c_bus = smbus.SMBus(i2c_bus_number)

        self.reset_encoders()
        self.i2c_bus.write_byte_data(self.i2c_bus_address, 15, 1)
        self.i2c_bus.write_byte_data(self.i2c_bus_address, 16, 48)
        self.i2c_bus.write_byte_data(self.i2c_bus_address, 14, 10)