def send(self, data, size):
data = data + '\n'
data = data.encode()
self.mysoc.send(data)
message = self.mysoc.receive()
#print(message)
#sys.stdout.flush()
return getDoubleFromString(message, size)
def sendJointsPositionsGetExTorque(self, x):
if (len(x) != 7):
print('Error in sender function [sendJointsPositionsGetExTorque]')
print('Joint positions shall be an array of 7 elements')
return
num = 10000
buff = StringIO()
buff.write('jpExT_')
counter = 0
while counter < 7:
buff.write(str(math.ceil(x[counter] * num) / num))
buff.write('_')
counter = counter + 1
buff.write('\n')
command = buff.getvalue()
return getDoubleFromString(self.send(command), 7)