def speed_from_byte(x, max=64.):
#print x & 128 >> 7
sign = -(((x & 128) >> 7) * 2 - 1)
if sign == -1:
modulo = (~x & 127) + 1
else:
modulo = x
return sign * modulo * max / 127
if __name__ == "__main__":
sender = grsim.grSimSender(('192.168.91.163', 20011))
tr = VIVATxRx()
while True:
data = tr.receive()
#print data
if not len(data):
continue
else:
print data
packet = sender.new_packet()
packet.commands.isteamyellow = True
packet.commands.timestamp = time()
for i in xrange(6):
c = packet.commands.robot_commands.add()
c.id = i
chip_angle = 45
kick = speed_from_byte(data[3 + 7 * i + 6], 10.)
from roboime.communication.rftransmission.vivatxrx import VIVATxRx
if __name__ == "__main__":
while True:
tr = VIVATxRx()
print tr.receive()
