def srvGetFirmwareVersion(self, params):
version = Lepi.system_get_version()
return GetInt32Response(version)
def srvMotorGetType(self, params):
# print(params)
value = self.d51_driver.motor_get_type(params.port)
return GetInt32Response(value)
def srvSensorGetValue(self, params):
data = Lepi.sensor_get_value(6 - params.port)
return GetInt32Response(data)
def srvSensorGetMode(self, params):
status = Lepi.sensor_get_mode(6 - params.port)
return GetInt32Response(status)
def srvSensorGetMode(self, params):
value = self.d51_driver.sensor_get_mode(params.port)
return GetInt32Response(value)
def srvMotorGetSpeed(self,msg): print(msg) speed = Lepi.motor_get_speed(msg.port) return GetInt32Response(speed)
def srvMotorGetEnable(self, params):
# print(params)
enabled = Lepi.motor_get_enable(params.port)
return GetInt32Response(enabled)
def srvMotorGetPosition(self, params):
value = self.d51_driver.motor_get_position(params.port)
return GetInt32Response(value)
def cbGetAxisValue(self, msg):
if self.joy.axes.has_key(msg.port):
return GetInt32Response(self.joy.axes[msg.port])
else:
return GetInt32Response()
def srvMotorGetState(self, params):
# print(params)
value = Lepi.motor_get_state(params.port)
return GetInt32Response(value)
def cbGetButtonValue(self, msg):
if self.joy.buttons.has_key(msg.port):
return GetInt32Response(self.joy.buttons[msg.port])
else:
return GetInt32Response()
def srvSensorGetValue(self,msg): data = Lepi.sensor_get_value(msg.port) return GetInt32Response(data)
def srvMotorGetPosition(self,msg): print(msg) position = Lepi.motor_get_current_position(msg.port) return GetInt32Response(position)
def srvMotorGetSpeed(self, params):
value = self.d51_driver.motor_get_speed(params.port)
return GetInt32Response(value)
def srvMotorGetSpeed(self, params):
# print(params)
speed = Lepi.motor_get_speed(params.port)
return GetInt32Response(speed)
def srvMotorGetPulse(self, params):
value = self.d51_driver.motor_get_pulse(params.port)
return GetInt32Response()
def srvMotorGetPulse(self, params):
value = Lepi.motor_get_pulse(params.port)
return GetInt32Response(value)
def srvSensorGetValue(self, params):
# print(params)
value = self.d51_driver.sensor_get_value(params.port)
return GetInt32Response(value)
def srvMotorGetPosition(self, params):
# print(params)
position = Lepi.motor_get_current_position(params.port)
return GetInt32Response(position)
def srvGetFirmwareVersion(self, params):
self.d51_driver._system_get_version()
return GetInt32Response(self.d51_driver.system.version)
def srvMotorGetEnable(self,msg): print(msg) enabled = Lepi.motor_get_enable(msg.port) return GetInt32Response(enabled)
