def rv(self, value):
self._rv = clip(value, -self.RV_CAP, self.RV_CAP)
if not self.simulated:
try:
self.arcos.send_command(RVEL, int(self._rv * 180 / pi)) # Convert radians/sec to degrees/sec
except Timeout as e: # Recast arcos errors as Soar errors
raise SoarIOError(str(e)) from e
def fv(self, value):
self._fv = clip(value, -self.FV_CAP, self.FV_CAP)
if not self.simulated: # For real robots, must send an ARCOS command
try:
self.arcos.send_command(VEL, int(self._fv*1000)) # Convert m/s to mm/s
except Timeout as e: # Recast arcos errors as Soar errors
raise SoarIOError(str(e)) from e
def set_analog_voltage(self, v):
""" Sets the robot's analog output voltage.
Args:
v (float): The output voltage to set. This is limited to the range of 0-10V.
"""
if self.simulated:
raise SoarIOError('Cannot set the analog output of a simulated robot (yet)') # TODO: CMax integration
else: # Sent the analog-digital output required to read it later
try:
self.arcos.send_command(DIGOUT, int(clip(v, 0, 10)*25.5) | 0xff00)
except Timeout as e: # Recast arcos errors as Soar errors
raise SoarIOError(str(e)) from e