class Protocol:
CMD_ECHO = 0
CMD_SET_SEVO_POS = 1
CMD_SET_SEVOS_RANGES = 2
CMD_ADD_ANIMATION = 3
CMD_CLEAR_ANIMATION = 4
CMD_START_ANIMATIONS = 5
CMD_STOP_ANIMATIONS = 6
CMD_GET_SEVOS_RANGES = 7
CMD_GET_SEVO_POS = 8
def __init__(self, port_name, baudrate):
self.serial = Port(port=port_name, baudrate=baudrate)
def echo(self, data):
#self.serial.write(struct.pack("<BB", len(data), self.CMD_ECHO) + data)
#return self.serial.read(2+len(data))[2:]
return None
def move_servo(self, group_id, servo_id, value):
print "group_id:{0} servo_id:{1} value:{2}".format(group_id, servo_id, value)
data = struct.pack("<BBf", group_id, servo_id, value)
return self.serial.send_data(struct.pack("<BB", len(data), self.CMD_SET_SEVO_POS) + data)
#return struct.unpack("<B", self.serial.read(3)[2:])[0]
def set_group_params(self, group_id, period, resolution, ranges):
#print "group_id:{0} period:{1} resolution:{2} ranges:{3}".format(group_id, period, resolution, ranges)
data = struct.pack("<BfH", group_id, period, resolution) + "".join([struct.pack("<ff", r[0], r[1]) for r in ranges])
self.serial.send_data(struct.pack("<BB", len(data), self.CMD_SET_SEVOS_RANGES) + data)
#return struct.unpack("<B", self.serial.read(3)[2:])[0]
return None
def get_group_params(self, group_id):
return None
def __init__(self, port_name, baudrate):
self.serial = Port(port=port_name, baudrate=baudrate)