def get_ranges(self):
"""Requests the last measurements of all sensors"""
cmd = I2C.pack8(Command.MeasureAll, 0)
self.send(cmd)
data = self.receive(2 * self.n)
ranges = list()
for i in range(self.n):
j = i * 2
ranges.append(I2C.pack16(data[(i * 2) + 1], data[i * 2]))
return ranges
def get_number_of_sensors(self):
"""Requests the number of available sensors"""
cmd = I2C.pack8(Command.Count, 0)
self.send(cmd)
return self.receive()
def get_ranges(self):
"""Requests the last measurements of all sensors"""
cmd = I2C.pack8(Command.MeasureAll, 0)
self.send(cmd)
return self.receive(2 * self.n)
def get_range(self, sensor):
"""Requests the last measurement of a specific sensor"""
cmd = I2C.pack8(Command.MeasureOne, sensor)
self.send(cmd)
r = self.receive(2)
return I2C.pack16(r[1], r[0])
def launch_funny(self):
cmd = I2C.pack8(Adress.SERVO_FUNNY, Command.MOVE_UP)
self.send(cmd)
def reset_funny(self):
cmd = I2C.pack8(Adress.SERVO_FUNNY, Command.MOVE_DOWN)
self.send(cmd)
def push_out(self):
cmd = I2C.pack8(Adress.SERVO_PUSH, Command.MOVE_UP)
self.send(cmd)
def push_back(self):
cmd = I2C.pack8(Adress.SERVO_PUSH, Command.MOVE_DOWN)
self.send(cmd)
def open_clamp(self):
cmd = I2C.pack8(Adress.SERVO_CLAMP, Command.MOVE_DOWN)
self.send(cmd)
def close_clamp(self):
cmd = I2C.pack8(Adress.SERVO_CLAMP, Command.MOVE_UP)
self.send(cmd)
def middle_clamp(self):
self.send(I2C.pack8(Adress.SERVO_DYNAMIXEL, 2))
def down_clamp(self):
cmd = I2C.pack8(Adress.SERVO_DYNAMIXEL, Command.MOVE_DOWN)
self.send(cmd)
def up_clamp(self):
cmd = I2C.pack8(Adress.SERVO_DYNAMIXEL, Command.MOVE_UP)
self.send(cmd)
