def build_header(self, run_asap=None, statemachine_body_size=0):
message = [ord(SendMessageHeader.NEW_STATE_MATRIX)]
message += [0 if run_asap is None else 1]
message += [1 if self.use_255_back_signal else 0]
return ArduinoTypes.get_uint8_array(
message) + ArduinoTypes.get_uint16_array([statemachine_body_size])
def set_wrappoint(self, wrap_point):
"""
Sets wrap point (number of tics in a half-rotation)
:ivar int wrap_point: number of tics in a half-rotation.
"""
ticks = self.__degrees_2_pos(wrap_point)
self.arcom.write_array([self.COM_SETWRAPPOINT] + ArduinoTypes.get_uint16_array([ticks]))
return self.arcom.read_uint8() == 1
def set_thresholds(self, thresholds):
"""
Sets the thresholds values to trigger the events.
:ivar list(int) thresholds: List, in maximum, of 6 thresholds to trigger events.
"""
data = ArduinoTypes.get_uint8_array([self.COM_SETTHRESHOLDS, len(thresholds)])
data += ArduinoTypes.get_uint16_array([self.__degrees_2_pos(thresh) for thresh in thresholds])
self.arcom.write_array(data)
return self.arcom.read_uint8() == 1
def build_message_global_timer(self):
message = []
for i in range(self.total_states_added):
message += (self.global_timers.triggers_matrix[i], )
for i in range(self.total_states_added):
message += (self.global_timers.cancels_matrix[i], )
for i in range(self.highest_used_global_timer):
message += (self.global_timers.onset_matrix[i], )
if self.hardware.n_global_timers > 16:
return ArduinoTypes.get_uint32_array(message)
elif self.hardware.n_global_timers > 8:
return ArduinoTypes.get_uint16_array(message)
else:
return ArduinoTypes.get_uint8_array(message)
