def create_message(self):
self._message[0] = bytes(
ByteUtils.translate_int_to_bytes(self.COMMAND_FIRST_BYTE, number_of_bytes=1, signed=False)
)
self._message[1] = bytes(
ByteUtils.translate_int_to_bytes(self.SET_TARGET_BYTE, number_of_bytes=1, signed=False)
)
self._message[2] = bytes(
ByteUtils.translate_int_to_bytes(self._channel_number, number_of_bytes=1, signed=False)
)
self._message[3] = bytes(
ByteUtils.translate_int_to_bytes(self._convert_angle_for_pololu(), number_of_bytes=1, signed=False)
)
def _set_message_bytes(self):
self._message[1] = bytes([ByteUtils.translate_int_to_bytes(self._speed_motor_1, number_of_bytes = 2, signed = True)[0]])
self._message[2] = bytes([ByteUtils.translate_int_to_bytes(self._speed_motor_1, number_of_bytes = 2, signed = True)[1]])
self._message[3] = bytes([ByteUtils.translate_int_to_bytes(self._speed_motor_2, number_of_bytes = 2, signed = True)[0]])
self._message[4] = bytes([ByteUtils.translate_int_to_bytes(self._speed_motor_2, number_of_bytes = 2, signed = True)[1]])
self._message[5] = bytes([ByteUtils.translate_int_to_bytes(self._speed_motor_3, number_of_bytes = 2, signed = True)[0]])
self._message[6] = bytes([ByteUtils.translate_int_to_bytes(self._speed_motor_3, number_of_bytes = 2, signed = True)[1]])
self._message[7] = bytes([ByteUtils.translate_int_to_bytes(self._speed_motor_4, number_of_bytes = 2, signed = True)[0]])
self._message[8] = bytes([ByteUtils.translate_int_to_bytes(self._speed_motor_4, number_of_bytes = 2, signed = True)[1]])
def _set_message_bytes(self):
self._message[1] = bytes([ByteUtils.translate_int_to_bytes(self._routine_number, number_of_bytes = 2, signed = True)[0]])
self._message[2] = bytes([ByteUtils.translate_int_to_bytes(self._routine_number, number_of_bytes = 2, signed = True)[1]])
self._message[3] = bytes([ByteUtils.translate_int_to_bytes(0, number_of_bytes = 2, signed = True)[0]])
self._message[4] = bytes([ByteUtils.translate_int_to_bytes(0, number_of_bytes = 2, signed = True)[1]])
self._message[5] = bytes([ByteUtils.translate_int_to_bytes(0, number_of_bytes = 2, signed = True)[0]])
self._message[6] = bytes([ByteUtils.translate_int_to_bytes(0, number_of_bytes = 2, signed = True)[1]])
self._message[7] = bytes([ByteUtils.translate_int_to_bytes(self._sequence_number, number_of_bytes = 2, signed = True)[0]])
self._message[8] = bytes([ByteUtils.translate_int_to_bytes(self._sequence_number, number_of_bytes = 2, signed = True)[1]])
def _set_message_bytes(self):
self._message[1] = bytes([ByteUtils.translate_int_to_bytes(self._position_x, number_of_bytes = 2, signed = True)[0]])
self._message[2] = bytes([ByteUtils.translate_int_to_bytes(self._position_x, number_of_bytes = 2, signed = True)[1]])
self._message[3] = bytes([ByteUtils.translate_int_to_bytes(self._position_y, number_of_bytes = 2, signed = True)[0]])
self._message[4] = bytes([ByteUtils.translate_int_to_bytes(self._position_y, number_of_bytes = 2, signed = True)[1]])
self._message[5] = bytes([ByteUtils.translate_int_to_bytes(self._speed_limit, number_of_bytes = 2, signed = True)[0]])
self._message[6] = bytes([ByteUtils.translate_int_to_bytes(self._speed_limit, number_of_bytes = 2, signed = True)[1]])
self._message[7] = bytes([ByteUtils.translate_int_to_bytes(self._sequence_number, number_of_bytes = 2, signed = True)[0]])
self._message[8] = bytes([ByteUtils.translate_int_to_bytes(self._sequence_number, number_of_bytes = 2, signed = True)[1]])
def _set_message_bytes(self):
converted_theta = self._convert_theta_to_int()
self._message[1] = bytes([ByteUtils.translate_int_to_bytes(converted_theta, number_of_bytes = 2, signed = True)[0]])
self._message[2] = bytes([ByteUtils.translate_int_to_bytes(converted_theta, number_of_bytes = 2, signed = True)[1]])
self._message[3] = bytes([ByteUtils.translate_int_to_bytes(self._speed_limit, number_of_bytes = 2, signed = True)[0]])
self._message[4] = bytes([ByteUtils.translate_int_to_bytes(self._speed_limit, number_of_bytes = 2, signed = True)[1]])
self._message[5] = bytes([ByteUtils.translate_int_to_bytes(0, number_of_bytes = 2, signed = True)[0]])
self._message[6] = bytes([ByteUtils.translate_int_to_bytes(0, number_of_bytes = 2, signed = True)[1]])
self._message[7] = bytes([ByteUtils.translate_int_to_bytes(self._sequence_number, number_of_bytes = 2, signed = True)[0]])
self._message[8] = bytes([ByteUtils.translate_int_to_bytes(self._sequence_number, number_of_bytes = 2, signed = True)[1]])
