Merge pull request #11 from WHILL/feature/add_set_battery_saving

Update add set-battery-saving command

README.md

@@ -49,6 +49,14 @@ Turn on/off a WHILL. `power_state_command` is a bool with `True` to power WHILL
 ```
 Enable/Disable power supply to the interface connector. `True` to enable power supply. **For Model CR only.**
 
+```python
+<your_obj_name>.set_battery_saving(low_battery_level=<Integer -100~100>, sounds_buzzer=<True/False>)
+```
+Configure battery protection settings. **For Model CR2 only.**
+`low_battery_level` is battery charge level to engage the standby mode with range 1 ~ 90.
+`sounds_buzzer` is Enable/Disable a buzzing sound at the battery charge level of `low_battery_level` + 10 percentage points. `True` to enable a buzzing sound when battery level low.
+As default, `low_battery_level` is 19 and `sounds_buzzer` is True.
+
 ### Motor Control
 ```python
 <your_obj_name>.send_joystick(front=<Integer -100~100>, side=<Integer -100~100>)

whill/whill.py

@@ -21,7 +21,7 @@ class CommandID(IntEnum):
         SET_JOYSTICK = auto()
         SET_SPEED_PROFILE = auto()
         SET_BATTERY_VOLTAGE_OUT = auto()
-        RESERVE_1 = auto()
+        SET_BATTERY_SAVING = auto()
         RESERVE_2 = auto()
         SET_VELOCITY = auto()
 
@@ -39,6 +39,7 @@ class PowerCommand(IntEnum):
         CommandID.SET_JOYSTICK: 4,
         CommandID.SET_SPEED_PROFILE: 11,
         CommandID.SET_BATTERY_VOLTAGE_OUT: 2,
+        CommandID.SET_BATTERY_SAVING: 3,
         CommandID.SET_VELOCITY: 6,
     }
 
@@ -221,6 +222,10 @@ def set_battery_voltage_output_mode(self, vbatt_on_off):
         command_bytes = [self.CommandID.SET_BATTERY_VOLTAGE_OUT, vbatt_on_off]
         return self.send_command(command_bytes)
 
+    def set_battery_saving(self, low_battery_level=19, sounds_buzzer=True):
+        command_bytes = [self.CommandID.SET_BATTERY_SAVING, low_battery_level, sounds_buzzer]
+        return self.send_command(command_bytes)
+
     def hold_joy_core(self, front, side, timeout=1000):
         while self.__timeout_count < timeout:
             if self.__stop_event.is_set():