def setPID(self, kp, kd, ki):
# Do not execute if any constant is negative
if (kp < 0) or (kd < 0) or (ki < 0):
return False
# Convert all constants to bytes
data = list()
data.extend(su.FloatToBytes(kp))
data.extend(su.FloatToBytes(kd))
data.extend(su.FloatToBytes(ki))
# Assemble packet and write to USB, return true for success
packet = pu.getPacket(0x05, self.cid, data)
self.ser.write(packet)
return True
def setPPR(self, ppr):
# Do not execute if PPR is out of range
if ppr < 0:
return False
# Update internally
self.ppr = ppr
# Assemble packet and write to USB, return true for success
packet = pu.getPacket(0x15, self.cid, su.FloatToBytes(ppr))
self.ser.write(packet)
return True
def rotateSpeed(self, rots, rpm):
# Do not execute if RPM is out of range, rotations < 0, or if not in PID mode
if (rpm < -65000) or (rpm > 65000) or (rots < 0) or not self.isPID:
return False
# Update internal memory of direction
if rpm < 0:
self.cw = False
elif rpm > 0:
self.cw = True
rpm = abs(rpm)
# Assemble payload -- pwm, then direction, then # rotations
data = list()
data.extend(su.ShortToBytes(rpm))
data.append(int(self.cw))
data.extend(su.FloatToBytes(rots))
# Assemble packet and write to USB, return true for success
packet = pu.getPacket(0x0A, self.cid, data)
self.ser.write(packet)
return True
def rotatePWM(self, rots, pwm):
# Do not execute if PWM is out of range, rotations < 0, or if in PID mode
if (pwm < -255) or (pwm > 255) or (rots < 0) or self.isPID:
return False
# Update internal memory of direction
if pwm < 0:
self.cw = False
elif pwm > 0:
self.cw = True
pwm = abs(pwm)
# Assemble payload -- pwm, then direction, then # rotations
data = list()
data.append(pwm)
data.append(int(self.cw))
data.extend(su.FloatToBytes(rots))
# Assemble packet and write to USB, return true for success
packet = pu.getPacket(0x09, self.cid, data)
self.ser.write(packet)
return True