def begin(self):
    '''!
      @brief    Board begin
      @return   Board status
    '''

  def set_addr(self, addr):
    '''!
      @brief Set board controler address, reboot module to make it effective
      @param address   Address to set, range in 1 to 127
    '''

  def set_encoder_enable(self, id):
    '''!
      @brief Set dc motor encoder enable
      @param id   Encoder list, items in range 1 to 2, or id = self.ALL
    '''
  
  def set_encoder_disable(self, id):
    '''!
      @brief Set dc motor encoder disable
      @param id  Encoder list, items in range 1 to 2, or id = self.ALL
    '''

  def set_encoder_reduction_ratio(self, id, reduction_ratio):
    '''!
      @brief Set dc motor encoder reduction ratio
      @param id                Encoder list, items in range 1 to 2, or id = self.ALL
      @param reduction_ratio   Set dc motor encoder reduction ratio, range in 1 to 2000, (pulse per circle) = 16 * reduction_ratio * 2
    '''

  def get_encoder_speed(self, id):
    '''!
      @brief Get dc motor encoder speed, unit rpm
      @param id   Encoder list, items in range 1 to 2, or id = self.ALL
      @return  List of encoders speed
    '''

  def set_moter_pwm_frequency(self, frequency):
    '''!
      @brief Set dc motor pwm frequency
      @param frequency   Frequency to set, in range 100HZ to 12750HZ, otherwise no effective (actual frequency) = frequency - (frequency % 50)
    '''

  def motor_movement(self, id, orientation, speed):
    '''!
      @brief Motor movement
      @param id            Motor list, items in range 1 to 2, or id = self.ALL
      @param orientation   Motor orientation, self.CW (clockwise) or self.CCW (counterclockwise)
      @param speed         Motor pwm duty cycle, in range 0 to 100, otherwise no effective
    '''

  def motor_stop(self, id):
    '''!
      @brief Motor stop
      @param id   Motor list, items in range 1 to 2, or id = self.ALL
    '''

  def detecte(self):
    '''!
      @brief    If you forget address you had set, use this to detecte them, must have class instance
      @return   Board list conformed
    '''