def check(self):
req = CONST.REQUEST['CHECK']
self.__UARTConnection.send(req)
receive = self.__UARTConnection.receive()
receive = maestro(receive)
byte0 = receive.getArg('int', 0)
return '%d' % (byte0)
def beep(self, number=1, duration=1):
req = CONST.COMMAND['BEEP']
req = maestro(req)
req.setArg('int', 0, number)
req.setArg('int', 1, duration)
req = req.getPackedByteString()
self.__UARTConnection.send(req)
def motorRun(self, direction='forward', time=0):
if time == 0:
if direction == 'forward':
req = CONST.MOTOR['FWARD']
elif direction == 'backward':
req = CONST.MOTOR['BWARD']
elif direction == 'left':
req = CONST.MOTOR['LTURN']
elif direction == 'right':
req = CONST.MOTOR['RTURN']
elif direction == 'right_elyptic':
req = CONST.MOTOR['RIGHT_ELYPTIC']
elif direction == 'left_elyptic':
req = CONST.MOTOR['LEFT_ELYPTIC']
else:
if direction == 'forward':
req = CONST.MOTOR['FWARD_T']
elif direction == 'backward':
req = CONST.MOTOR['BWARD_T']
elif direction == 'left':
req = CONST.MOTOR['LTURN_T']
elif direction == 'right':
req = CONST.MOTOR['RTURN_T']
req = maestro(req)
req.setArg('int', 0, time)
req = req.getPackedByteString()
self.__UARTConnection.send(req)
def getIRDistance(self):
req = CONST.REQUEST['GET_IR_DISTANCE']
self.__UARTConnection.send(req)
receive = self.__UARTConnection.receive()
receive = maestro(receive)
byte0 = receive.getArg('int', 0)
byte1 = receive.getArg('int', 1)
distance = byte0 * 255 + byte1
return distance
def getVoltage(self): # to be realized
req = CONST.REQUEST['GET_VOLTAGE']
self.__UARTConnection.send(req)
receive = self.__UARTConnection.receive()
receive = maestro(receive)
byte0 = receive.getArg('int', 0)
byte1 = receive.getArg('int', 1)
voltage = byte0 * 255 + byte1
return 'Voltage: %f' % (voltage)
def receive(self):
command = self.__serial.read(4)
args = b''
command = maestro(command)
bytesToReceive = command.getArgsToReceive()
command = command.getPackedByteString()
for i in range(0, bytesToReceive, 1):
command.append(self.__serial.read(1))
return command
def soft_blink(self, red=0, green=255, blue=0, number=2, duration=10):
req = CONST.COMMAND['LED_SOFT_BLINK']
req = maestro(req)
req.setArg('int', 2, red) #
req.setArg('int', 1, green)
req.setArg('int', 0, blue) #
req.setArg('int', 3, number)
req.setArg('int', 4, duration)
req = req.getPackedByteString()
self.__UARTConnection.send(req)
def right(self, time=0):
if time == 0:
req = CONST.MOTOR['RTURN']
else:
req = CONST.MOTOR['RTURN_T']
req = maestro(req)
req.setArg('int', 0, time)
req = req.getPackedByteString()
self.__UARTConnection.send(req)
def backward(self, time=0):
if time == 0:
req = CONST.MOTOR['BWARD']
else:
req = CONST.MOTOR['BWARD_T']
req = maestro(req)
req.setArg('int', 0, time)
req = req.getPackedByteString()
self.__UARTConnection.send(req)
def setLed(self, status=True, red=0, green=255, blue=0):
if status:
req = CONST.COMMAND['LED_ON']
req = maestro(req)
req.setArg('int', 2, red) #
req.setArg('int', 1, green)
req.setArg('int', 0, blue) #
req = req.getPackedByteString()
elif not status:
req = CONST.COMMAND['LED_OFF']
self.__UARTConnection.send(req)
