def flipMotor(self):
packet = tr2_msgs.Packet()
packet.address = self._id
packet.cmd = CMD_FLIP_MOTOR
self._tr2._msgs.add(packet)
self._tr2.step()
def resetEncoderPosition(self): packet = tr2_msgs.Packet() packet.address = self._id packet.cmd = CMD_RESET_POS self._tr2._msgs.add(packet) self._tr2.step()
def setMode(self, mode): packet = tr2_msgs.Packet() packet.address = self._id packet.cmd = CMD_SET_MODE packet.addParam(mode) self._tr2._msgs.add(packet) self._tr2.step()
def stop(self): cmd = CMD_STOP_EMERGENCY packet = tr2_msgs.Packet() packet.address = self._id packet.cmd = cmd self._tr2._msgs.add(packet) self._tr2.step()
def release(self): cmd = CMD_STOP_RELEASE packet = tr2_msgs.Packet() packet.address = self._id packet.cmd = cmd self._tr2._msgs.add(packet) self._tr2.step()
def setPosition(self, pos, speed = 100): x = pos / (math.pi * 2) * 65535 packet = tr2_msgs.Packet() packet.address = self._id packet.cmd = CMD_SET_POS packet.addParam(int(math.floor(x % 256))) packet.addParam(int(math.floor(x / 256))) packet.addParam(int(math.floor(speed / 100.0 * 255.0))) self._tr2._msgs.add(packet) self._tr2.step()
def actuate(self, motorValue, motorDuration = 250): offsetBinary = 128 x = int(math.floor(motorValue * 100.0)) packet = tr2_msgs.Packet() packet.address = self._id packet.cmd = CMD_ROTATE packet.addParam(x + offsetBinary) packet.addParam(int(math.floor(motorDuration % 256))) packet.addParam(int(math.floor(motorDuration / 256))) self._tr2._msgs.add(packet) self._tr2.step()
def drive(self, motorLeft, motorRight, motorDuration=250):
offsetBinary = 100
packet = tr2_msgs.Packet()
packet.address = "b0"
packet.cmd = CMD_ROTATE
packet.addParam(int((motorLeft * 100.0) + offsetBinary))
packet.addParam(int((motorRight * 100.0) + offsetBinary))
packet.addParam(int(math.floor(motorDuration % 256)))
packet.addParam(int(math.floor(motorDuration / 256)))
self._msgs.add(packet)
self.step()