def __init__(self, sampleRate, sampleRateError, rotaionRate, rotationRateError, rangeOfMotion, buff, port):
self.sampleRate = sampleRate # sensor sends position data at this rate
if sampleRate <= 0:
print "Provide positive sample rate for proper sensor instantiation."
self.sampleRateError = sampleRateError
self.rotaionRate = rotaionRate # Degrees / second
self.rotationRateError = rotationRateError
self.orientation = 0 # Maximum angle = 45 degrees.
self.rangeOfMotion = rangeOfMotion
self.buff = buff
self.clockwiseRotation = True
self.lastSample = None
self.lastLocation = [0, 0]
self.port = port
self.comm = initComm(port)
print("\nOpened sensor communication.\n")
self.sequenceNum = 0
def __init__(self, rotationSpeed, forwardSpeed, rotationSpeedError, forwardSpeedError, x, y, orientation, port, messagePeriod):
self.rotationSpeed = rotationSpeed # Degrees per second.
self.forwardSpeed = forwardSpeed
self.rotationSpeedError = rotationSpeedError
self.forwardSpeedError = forwardSpeedError
self.length = 5 # length = 5 cm
self.width = 3 # width = 3 cm
#self.position = [None] * 10
self.position = []
self.position.append((x, y))
self.orientation = []
self.orientation.append(orientation)
self.buff = 0
self.movement = None
self.messagePeriod = messagePeriod
self.times = []
self.times.append(0) # T0 = rover instantiation
self.initTime = time.time()
self.comm = initComm(port)
print("\nOpened rover location.\n")
self.sequenceNum = 0