def foo_suck_3(self):
time.sleep(0.1)
# command = bytes([0xAA, 0xAA, 4, 131, 0x03, self.checksum])
command = Message()
command.len = 2 + 2
command.id = 131
command.params = bytes([0x12, 0x00])
command.header = bytes([0xAA, 0xAA])
command.ctrl = 0x03
print(command.bytes())
# command.checksum = None
self.ser.write(command.bytes())
def _set_end_effector_suction_cup(self, suck=False):
msg = Message()
msg.id = 62
msg.ctrl = 0x03
msg.params = bytearray([])
msg.params.extend(bytearray([0x01]))
if suck is True:
msg.params.extend(bytearray([0x01]))
else:
msg.params.extend(bytearray([0x00]))
print(msg.bytes())
return self._send_command(msg)
def _set_ptp_cmd(self, x, y, z, r, mode):
msg = Message()
msg.id = 84
msg.ctrl = 0x03
msg.params = bytearray([])
msg.params.extend(bytearray([mode]))
msg.params.extend(bytearray(struct.pack('f', x)))
msg.params.extend(bytearray(struct.pack('f', y)))
msg.params.extend(bytearray(struct.pack('f', z)))
msg.params.extend(bytearray(struct.pack('f', r)))
print(msg.bytes())
return self._send_command(msg)
