3.11. Sensor Adapter¶
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sensor_adapter_ctrl.
get_sensor_adapter_adc
(board_id, port_num)¶ Description: Obtains the ADC value of the analog pin for the corresponding port on the sensor adapter
参数: - board_id (int) – The module number of the sensor adapter, whose range is [1:6]
- port_num (uint8) – The number of the port on the sensor adapter, whose range is [1:2]
- wait_for_complete (bool) – Whether to wait for execution to be completed. The default value is True.
返回: The ADC value of the analog pin for the corresponding port on the sensor adapter, whose range is [0:1023]
返回类型: uint16
Example: ret = sensor_adapter_ctrl.get_sensor_adapter_adc(1, 2)
Example description: Obtain the ADC value of the analog pin for port 2 on sensor adapter 1
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sensor_adapter_ctrl.
get_sensor_adapter_pulse_period
(board_id, port_num)¶ Description: Obtains the pulse duration of the pin for the corresponding port on the sensor adapter
参数: - board_id (int) – The module number of the sensor adapter, whose range is [1:6]
- port_num (uint8) – The number of the port on the sensor adapter, whose range is [1:2]
返回: The pulse duration of the pin for the corresponding port on the sensor adapter, with an accuracy of 1 ms
返回类型: uint32
Example: ret = sensor_adapter_ctrl.get_sensor_pulse_period(1, 2)
Example description: Obtain the pulse duration of the analog pin for port 2 on sensor adapter 1
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def sensor_adapter[board_id]_port[port_id]_[judge_type]_event(msg):
Description: When the pulse on the pin of the corresponding port on the sensor adapter changes to high, low, or bidirectional, run the program in the function
参数: - board_id (int) – The module number of the sensor adapter, whose range is [1:6]
- port_num (uint8) – The number of the port on the sensor adapter, whose range is [1:2]
- judge_type – The trigger condition, which can be high, low, or trigger. These values indicate high level, low level, and bidirectional skipping respectively.
返回: None
Example:
1 2 3 4 | #When the pulse on the pin of port 2 on sensor adapter 1 changes to high, run the program in the function
def sensor_adapter1_port2_high_event(msg):
pass
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sensor_adapter_ctrl.
cond_wait
(rm_define.cond_sensor_adapter[board_id]_port[port_id]_[judge_type]_event)¶ Description: When the pulse on the pin of the corresponding port on the waiting sensor adapter is high, low, or trigger, execute the next instruction
参数: - board_id (int) – The module number of the sensor adapter, whose range is [1:6]
- port_num (uint8) – The number of the port on the sensor adapter, whose range is [1:2]
- judge_type – The trigger condition, which can be high, low, or trigger. These values indicate high level, low level, and bidirectional skipping respectively.
返回: None
Example: sensor_adapter_ctrl.cond_wait(rm_define.cond_sensor_adapter1_port2_high_event)
Example description: When the pulse on the pin of port 2 on sensor adapter 1 is high, execute the next instruction
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sensor_adapter_ctrl.
check_condition
(rm_define.cond_sensor_adapter[board_id]_port[port_id]_[judge_type]_event)¶ Description: Determines whether the pulse on the pin of the corresponding port on the sensor adapter is high, low, or trigger
参数: - board_id (int) – The module number of the sensor adapter, whose range is [1:6]
- port_num (uint8) – The number of the port on the sensor adapter, whose range is [1:2]
- judge_type – The trigger condition, which can be high, low, or trigger. These values indicate high level, low level, and bidirectional skipping respectively.
返回: Whether the relevant conditions are satisfied. If yes, true is returned. If no, false is returned.
返回类型: bool
Example:
1 2 3 4 | #If the pulse on the pin of port 2 on sensor adapter 1 is trigger, execute the next instruction
if sensor_adapter_ctrl.check_condition(rm_define.cond_sensor_adapter1_port2_trigger_event):
pass
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提示
For the description of the module, refer to Sensor Adapter.