def positions(self, encoders):
Arm.encoders_within_limits(encoders)
positions_bytes = positionCmd
for ix in range(len(encoders)):
ix_bytes = ix.to_bytes(1, byteorder='litte', signed=True)
pos_bytes = encoders[ix].to_bytes(4,
byteorder='little',
signed=True)
positions_bytes = positions_bytes + ix_bytes + pos_bytes
self.send(positions_bytes)
return self.receive()
def test_encoder_limits_ok(self):
# validate this doesn't raise an exception
Arm.encoders_within_limits([0, 0, 0, 0, 0, 0])
def test_encoder_limits_bad(self):
self.assertRaises(ValueError, lambda: Arm.encoders_within_limits([1000000, 0, 0, 0, 0, 0]))
