def __init__(self, type, devId, pubHz):
RiCHeader.__init__(self)
self._id = 103
self._des = 0x1001
self._type = type
self._devId = devId
self._pubHz = pubHz
def __init__(self, toConnect):
RiCHeader.__init__(self)
self._id = RES_ID
self._des = 0x1001
self._length = 7
self._checkSum = 0
self._toConnect = toConnect
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self):
RiCHeader.__init__(self)
self._lat = 0.0
self._lng = 0.0
self._meters = 0.0
self._HDOP = 0
self._satellites = 0
self._fix = 0
def __init__(self):
RiCHeader.__init__(self)
self._id = ID_REQ
self._length = LEN_REQ
self._des = 0
self._checkSum = 0
self._finish = True
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self):
RiCHeader.__init__(self)
self._lat = 0.0
self._lng = 0.0
self._meters = 0.0
self._HDOP = 0
self._satellites = 0
self._fix = 0
def __init__(self, angular, linear):
RiCHeader.__init__(self)
self._id = REQ_ID
self._length = REQ_LEN
self._des = 0x1001
self._checkSum = 0
self._angular = angular
self._linear = linear
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, motorNum, postion):
RiCHeader.__init__(self)
self._id = 6
self._length = REQ_LEN
self._des = 0x1001
self._checkSum = 0
self._motorId = motorNum
self._position = postion
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, motorNum, postion):
RiCHeader.__init__(self)
self._id = 6
self._length = REQ_LEN
self._des = 0x1001
self._checkSum = 0
self._motorId = motorNum
self._position = postion
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, angular, linear):
RiCHeader.__init__(self)
self._id = REQ_ID
self._length = REQ_LEN
self._des = 0x1001
self._checkSum = 0
self._angular = angular
self._linear = linear
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, servoId, position):
RiCHeader.__init__(self)
self._id = REQ_ID
self._des = 0x1001
self._length = REQ_LEN
self._servoId = servoId
self._position = position
self._checkSum = 0
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, servoId, position):
RiCHeader.__init__(self)
self._id = REQ_ID
self._des = 0x1001
self._length = REQ_LEN
self._servoId = servoId
self._position = position
self._checkSum = 0
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, motorNum, speed):
RiCHeader.__init__(self)
self._id = OPEN_LOOP_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self._motorNum = motorNum
self._speed = speed
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, x, y, theta):
RiCHeader.__init__(self)
self._id = REQ_ID
self._length = REQ_LEN
self._des = 0x1001
self._checkSum = 0
self._x = x
self._y = y
self._theta = theta
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, relayNum, status):
RiCHeader.__init__(self)
self._id = RELAY_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self._relayNum = relayNum
self._status = status
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self):
RiCHeader.__init__(self)
self._odomX = 0.0
self._odomY = 0.0
self._odomTheta = 0.0
self._translationX = 0.0
self._translationY = 0.0
self._translationZ = 0.0
self._translationRotationZ = 0.0
self._translationRotationW = 0.0
def __init__(self):
RiCHeader.__init__(self)
self._ch1 = 0.0
self._ch2 = 0.0
self._ch3 = 0.0
self._ch4 = 0.0
self._ch5 = 0.0
self._ch6 = 0.0
self._ch7 = 0.0
self._ch8 = 0.0
def __init__(self, x, y, theta):
RiCHeader.__init__(self)
self._id = REQ_ID
self._length = REQ_LEN
self._des = 0x1001
self._checkSum = 0
self._x = x
self._y = y
self._theta = theta
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self):
RiCHeader.__init__(self)
self._ch1 = 0.0
self._ch2 = 0.0
self._ch3 = 0.0
self._ch4 = 0.0
self._ch5 = 0.0
self._ch6 = 0.0
self._ch7 = 0.0
self._ch8 = 0.0
def __init__(self, motorNum, speed):
RiCHeader.__init__(self)
self._id = OPEN_LOOP_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self._motorNum = motorNum
self._speed = speed
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, status):
RiCHeader.__init__(self)
self._id = IMU_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self.status = status
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self):
RiCHeader.__init__(self)
self._odomX = 0.0
self._odomY = 0.0
self._odomTheta = 0.0
self._translationX = 0.0
self._translationY = 0.0
self._translationZ = 0.0
self._translationRotationZ = 0.0
self._translationRotationW = 0.0
self._linearVelocity = 0.0
def __init__(self, devType, devId, haveRight):
RiCHeader.__init__(self)
self._id = RIG_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self._devType = devType
self._devId = devId
self._haveRight = haveRight
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devType, devId, haveRight):
RiCHeader.__init__(self)
self._id = RIG_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self._devType = devType
self._devId = devId
self._haveRight = haveRight
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devId, devType, fieldNum, val):
RiCHeader.__init__(self)
self._id = PSET_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self._devId = devId # byte
self._devType = devType # byte
self._fieldNum = fieldNum # byte
self._val = val # float
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self, devId, devType, fieldNum, val):
RiCHeader.__init__(self)
self._id = PSET_REQ
self._length = MSG_LEN
self._des = 0x1001
self._checkSum = 0
self._devId = devId # byte
self._devType = devType # byte
self._fieldNum = fieldNum # byte
self._val = val # float
self._checkSum = self.calCheckSum(self.dataTosend())
def __init__(self):
RiCHeader.__init__(self)
self._velocityX = 0.0
self._velocityY = 0.0
self._velocityZ = 0.0
self._accelerationX = 0.0
self._accelerationY = 0.0
self._accelerationZ = 0.0
self._magnetometerX = 0.0
self._magnetometerY = 0.0
self._magnetometerZ = 0.0
self._orientationX = 0.0
self._orientationY = 0.0
self._orientationZ = 0.0
self._orientationW = 0.0
self._roll = 0.0
self._pitch = 0.0
self._yaw = 0.0
self._temperature = 0.0
def __init__(self):
RiCHeader.__init__(self)
self._ver = 0.0
def __init__(self):
RiCHeader.__init__(self)
self._devId = 0
self._rad = 0
self._rad_s = 0
def __init__(self):
RiCHeader.__init__(self)
self._status = 0.0
def __init__(self):
RiCHeader.__init__(self)
self._requestForConnection = 0
def __init__(self):
RiCHeader.__init__(self)
self._IdToAck = 0
self._requestLength = 0
def __init__(self):
RiCHeader.__init__(self)
self._switchNum = 0
self._status = 0
def __init__(self):
RiCHeader.__init__(self)
self._requestForConnection = 0
def __init__(self):
RiCHeader.__init__(self)
self._switchNum = 0
self._status = 0
def __init__(self):
RiCHeader.__init__(self)
self._urfId = 0
self._range = 0.0
def __init__(self):
RiCHeader.__init__(self)
self._servoNum = 0
self._position = 0.0
def __init__(self):
RiCHeader.__init__(self)
self._urfId = 0
self._range = 0.0
def __init__(self):
RiCHeader.__init__(self)
self._x = 0.0
self._y = 0.0
self._z = 0.0
def __init__(self):
RiCHeader.__init__(self)
self._ver = 0.0
def __init__(self):
RiCHeader.__init__(self)
self._IdToAck = 0
self._requestLength = 0
def __init__(self):
RiCHeader.__init__(self)
self._x = 0.0
self._y = 0.0
self._z = 0.0
