def get_gyroscope_values(self):
res, packed_vec = vrep.simxGetStringSignal(
self._client, self._stream_names['gyroscope'],
vrep.simx_opmode_buffer)
if res == vrep.simx_return_ok:
self._gyroscope_reading = vrep.simxUnpackFloats(packed_vec)
return np.asarray(self._gyroscope_reading)
def get_proximity_values(self):
res, packed_vec = vrep.simxGetStringSignal(
self._client, self._stream_names['proximity_sensor'],
vrep.simx_opmode_buffer)
if res == vrep.simx_return_ok:
self._proximity_reading = vrep.simxUnpackFloats(packed_vec)
return np.round(self._proximity_reading, 3)
def get_encoders_rotations(self):
res, packed_vec = vrep.simxGetStringSignal(
self._client, self._stream_names['encoders'],
vrep.simx_opmode_buffer)
if res == vrep.simx_return_ok:
self._encoder_reading = vrep.simxUnpackFloats(packed_vec)
return np.round(self._encoder_reading, 3)
def get_encoders_rotations(self) -> np.ndarray:
"""Reads encoders ticks from robot.
Returns:
encoder_ticks: Current values of encoders ticks.
"""
res, packed_vec = vrep.simxReadStringStream(
self._client, self._stream_names['encoders'],
vrep.simx_opmode_oneshot)
if res == vrep.simx_return_ok:
self._encoder_ticks = vrep.simxUnpackFloats(packed_vec)
self._encoder_ticks = np.round(self._encoder_ticks, 3)
return self._encoder_ticks
def get_gyroscope_values(self) -> np.ndarray:
"""Reads gyroscope values from robot.
Returns:
gyroscope_values: Array of values received from gyroscope.
"""
res, packed_vec = vrep.simxReadStringStream(
self._client, self._stream_names['gyroscope'],
vrep.simx_opmode_oneshot)
if res == vrep.simx_return_ok:
self._gyroscope_values = vrep.simxUnpackFloats(packed_vec)
self._gyroscope_values = np.asarray(self._gyroscope_values)
return self._gyroscope_values
def get_accelerometer_values(self) -> np.ndarray:
"""Reads accelerometer values from robot.
Returns:
accelerometer_values: Array of values received from accelerometer.
"""
res, packed_vec = vrep.simxReadStringStream(
self._client, self._stream_names['accelerometer'],
vrep.simx_opmode_oneshot)
if res == vrep.simx_return_ok:
self._accelerometer_values = vrep.simxUnpackFloats(packed_vec)
self._accelerometer_values = np.asarray(self._accelerometer_values)
return self._accelerometer_values
def get_proximity_values(self) -> np.ndarray:
"""Reads proximity sensors values from robot.
Returns:
proximity_sensor_values: Array of proximity sensor values.
"""
res, packed_vec = vrep.simxReadStringStream(
self._client, self._stream_names['proximity_sensor'],
vrep.simx_opmode_oneshot)
if res == vrep.simx_return_ok:
self._proximity_sensor_values = vrep.simxUnpackFloats(packed_vec)
self._proximity_sensor_values = np.round(
self._proximity_sensor_values, 3)
return self._proximity_sensor_values