def _get_setpoints(self, payload):
vals: Tuple = (
self._state["position_setpoint"],
self._state["velocity_setpoint"],
)
gen_payload = self.codec.serialize(vals, *can_endpoints["setpoints"]["types"])
self.buffer = create_frame(self.node_id, 0x0A, False, gen_payload)
def _get_state(self, payload):
if self.legacy_errors:
vals: Tuple = (
self._state["error"],
self._state["state"],
self._state["mode"],
0,
0,
0,
0,
0,
)
else:
vals: Tuple = (
0,
self._state["state"],
self._state["mode"],
self._state["error"],
0,
0,
0,
0,
)
gen_payload = self.codec.serialize(vals, *can_endpoints["state"]["types"])
self.buffer = create_frame(self.node_id, 0x03, False, gen_payload)
def _get_limits(self, payload):
vals: Tuple = (self._state["velocity_limit"], self._state["current_limit"])
gen_payload = self.codec.serialize(vals, *can_endpoints["limits"]["types"])
self.buffer = create_frame(self.node_id, 0x15, False, gen_payload)
def _get_Iq_estimates(self, payload):
vals: Tuple = (self._state["current_estimate"], self._state["current_setpoint"])
gen_payload = self.codec.serialize(vals, *can_endpoints["Iq"]["types"])
self.buffer = create_frame(self.node_id, 0x14, False, gen_payload)
def _get_device_info(self, payload):
vals: Tuple = (0, 0, 8, 5, 25)
gen_payload = self.codec.serialize(vals, *can_endpoints["device_info"]["types"])
self.buffer = create_frame(self.node_id, 0x1A, False, gen_payload)
def _get_vbus(self, payload):
vals: Tuple = (self._state["vbus"],)
gen_payload = self.codec.serialize(vals, *can_endpoints["Vbus"]["types"])
self.buffer = create_frame(self.node_id, 0x17, False, gen_payload)
def _get_min_studio_version(self, payload):
vals: Tuple = (0, 3, 7)
gen_payload = self.codec.serialize(vals, *can_endpoints["min_studio_version"]["types"])
self.buffer = create_frame(self.node_id, 0x04, False, gen_payload)