def __init__(self, type, devId, param):
ParamBuildResponse.__init__(self, type, devId, param.getURFPubHz(devId))
self._length = RES_LEN
self._checkSum = 0
self._portNum = param.getURFPort(devId)
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, param):
ParamBuildResponse.__init__(self, GPS, 0, param.getGpsPubHz())
self._length = MSG_LEN
self._checkSum = 0
self._baudrate = param.getGpsBaudrate()
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devId, param, type):
ParamBuildResponse.__init__(self, type, devId, param.getCloseLoopMotorPubHz(devId))
self._length = RES_LEN
self._LPFHz = param.getCloseLoopMotorLPFHz(devId)
self._LPFAlpha = param.getCloseLoopMotorLPFAlpha(devId)
self._driverAddress = param.getCloseLoopMotorDriverAddress(devId)
self._channel = param.getCloseLoopMotorChannel(devId)
self._PIDHz = param.getCloseLoopMotorPIDHz(devId)
self._KP = param.getCloseLoopMotorKp(devId)
self._KI = param.getCloseLoopMotorKi(devId)
self._KD = param.getCloseLoopMotorKd(devId)
self._maxSpeed = param.getCloseLoopMotorMaxSpeed(devId)
self._CPR = param.getCloseLoopMotorCpr(devId)
self._timeout = param.getCloseLoopMotorTimeout(devId)
self._timeout = param.getCloseLoopMotorTimeout(devId)
self._limit = param.getCloseLoopMotorIntegralLimit(devId)
port = param.getCloseLoopMotorEncoderPort(devId)
if port == EN_PORT1:
self._encoderPinA = 20
self._encoderPinB = 21
elif port == EN_PORT2:
self._encoderPinA = 22
self._encoderPinB = 23
elif port == EN_PORT3:
self._encoderPinA = 27
self._encoderPinB = 28
elif port == EN_PORT4:
self._encoderPinA = 29
self._encoderPinB = 30
self._motorType = param.getCloseLoopMotorType(devId)
self._motorDirection = param.getCloseLoopMotorDirection(devId)
self._motorDirectionE = param.getCloseLoopMotorDirectionEncoder(devId)
if param.getCloseLoopMotorEncoderType(devId) == 1:
self._checkSum = 0
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, param):
ParamBuildResponse.__init__(self, Battery, 0, param.getBatteryPubHz())
self._length = MSG_LEN
self._checkSum = 0
self._voltageDividerRatio = param.getBatteryVoltageDividerRatio()
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, param):
ParamBuildResponse.__init__(self, Battery, 0, param.getBatteryPubHz())
self._length = MSG_LEN
self._checkSum = 0
self._voltageDividerRatio = param.getBatteryVoltageDividerRatio()
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, param):
ParamBuildResponse.__init__(self, GPS, 0, param.getGpsPubHz())
self._length = MSG_LEN
self._checkSum = 0
self._baudrate = param.getGpsBaudrate()
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devId, param):
ParamBuildResponse.__init__(self, Button, devId, param.getSwitchPubHz(devId))
self._length = RES_LEN
self._checkSum = 0
self._port = param.getSwitchPort(devId)
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devId, param):
ParamBuildResponse.__init__(self, Rely, devId, 0)
self._length = MSG_LEN
self._checkSum = 0
self._port = param.getRelayPort(devId)
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devId, param):
ParamBuildResponse.__init__(self, Button, devId,
param.getSwitchPubHz(devId))
self._length = RES_LEN
self._checkSum = 0
self._port = param.getSwitchPort(devId)
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devId , param):
ParamBuildResponse.__init__(self, Rely, devId, 0)
self._length = MSG_LEN
self._checkSum = 0
self._port = param.getRelayPort(devId)
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, param):
ParamBuildResponse.__init__(self, IMU, 0, param.getIMUPubHz())
self._length = RES_LEN
self._checkSum = 0
self._camp = param.getIMUCamp()
self._fusionHz = param.getIMUFusionHz()
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, switchNum, param):
ParamBuildResponse.__init__(self, EmergencySwitch, switchNum, 0)
self._length = MSG_LEN
self._checkSum = 0
self._listenToPin = param.getEmergencyPin(switchNum)
self._status = param.getEmergencyState(switchNum)
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, param):
ParamBuildResponse.__init__(self, IMU, 0, param.getIMUPubHz())
self._length = RES_LEN
self._checkSum = 0
self._camp = param.getIMUCamp()
self._fusionHz = param.getIMUFusionHz()
self._enableFuseGyro = param.isIMUFuseGyro()
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devId, param):
ParamBuildResponse.__init__(self, DiffDriverCL, devId, param.getCloseDiffPubHz())
self._length = MSG_LEN
self._checkSum = 0
self._rWheel = param.getCloseDiffRWheel()
self._width = param.getCloseDiffWidth()
self._motorL = param.getCloseDiffMotorL()
self._motorR = param.getCloseDiffMotorR()
self._slip = param.getCloseDiffSlip()
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devId, param):
ParamBuildResponse.__init__(self, EngineOL, devId, 0)
self._length = MSG_LEN
self._checkSum = 0
self._address = param.getOpenLoopAddress(devId)
self._channel = param.getOpenLoopChannel(devId)
self._timeout = param.getOpenLoopTimeout(devId)
self._max = param.getOpenLoopMax(devId)
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devId, param):
ParamBuildResponse.__init__(self, DiffDriverCL, devId,
param.getCloseDiffPubHz())
self._length = MSG_LEN
self._checkSum = 0
self._rWheel = param.getCloseDiffRWheel()
self._width = param.getCloseDiffWidth()
self._motorL = param.getCloseDiffMotorL()
self._motorR = param.getCloseDiffMotorR()
self._slip = param.getCloseDiffSlip()
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devId, param):
ParamBuildResponse.__init__(self, SERVO, devId, param.getServoPublishHz(devId))
self._length = SERVO_LEN_MSG
self._port = param.getServoPort(devId)
self._min = param.getServoMin(devId)
self._max = param.getServoMax(devId)
self._a = param.getServoAParameter(devId)
self._b = param.getServoBParameter(devId)
self._initPos = param.getServoInitMove(devId)
self._checkSum = 0
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devId, param):
ParamBuildResponse.__init__(self, SERVO, devId, param.getServoPublishHz(devId))
self._length = SERVO_LEN_MSG
self._port = param.getServoPort(devId)
self._min = param.getServoMin(devId)
self._max = param.getServoMax(devId)
self._a = param.getServoAParameter(devId)
self._b = param.getServoBParameter(devId)
self._initPos = param.getServoInitMove(devId)
self._checkSum = 0
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devId, param, type):
ParamBuildResponse.__init__(self, type, devId,
param.getCloseLoopMotorPubHz(devId))
self._length = RES_LEN
self._LPFHz = param.getCloseLoopMotorLPFHz(devId)
self._LPFAlpha = param.getCloseLoopMotorLPFAlpha(devId)
self._driverAddress = param.getCloseLoopMotorDriverAddress(devId)
self._channel = param.getCloseLoopMotorChannel(devId)
self._PIDHz = param.getCloseLoopMotorPIDHz(devId)
self._KP = param.getCloseLoopMotorKp(devId)
self._KI = param.getCloseLoopMotorKi(devId)
self._KD = param.getCloseLoopMotorKd(devId)
self._maxSpeed = param.getCloseLoopMotorMaxSpeed(devId)
self._CPR = param.getCloseLoopMotorCpr(devId)
self._timeout = param.getCloseLoopMotorTimeout(devId)
self._timeout = param.getCloseLoopMotorTimeout(devId)
self._limit = param.getCloseLoopMotorIntegralLimit(devId)
port = param.getCloseLoopMotorEncoderPort(devId)
if port == EN_PORT1:
self._encoderPinA = 20
self._encoderPinB = 21
elif port == EN_PORT2:
self._encoderPinA = 22
self._encoderPinB = 23
elif port == EN_PORT3:
self._encoderPinA = 27
self._encoderPinB = 28
elif port == EN_PORT4:
self._encoderPinA = 29
self._encoderPinB = 30
self._motorType = param.getCloseLoopMotorType(devId)
self._motorDirection = param.getCloseLoopMotorDirection(devId)
self._motorDirectionE = param.getCloseLoopMotorDirectionEncoder(devId)
if param.getCloseLoopMotorEncoderType(devId) == 1:
self._checkSum = 0
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, param):
ParamBuildResponse.__init__(self, PPM, 0, param.getPPMPubHz())
self._length = MSG_LEN
self._checkSum = 0
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, param):
ParamBuildResponse.__init__(self, PPM, 0, param.getPPMPubHz())
self._length = MSG_LEN
self._checkSum = 0
self._checkSum = self.calCheckSum(self.dataTosend())
