def getHydraulicsState():
control_x, control_y, control_z = hydraulics_drv.getCurrentInput()
pid_x, pid_y, pid_z = hydraulics_drv.getVoltageInput()
loopback_x, loopback_y, loopback_z = hydraulics_drv.getLoopbackValues()
retObj = {}
retObj["x"] = control_x
retObj["y"] = control_y
retObj["z"] = control_z
retObj["pid_x"] = pid_x
retObj["pid_y"] = pid_y
retObj["pid_z"] = pid_z
retObj["playbacks"] = hydraulics_playback.getList()
retObj["currentPlayback"] = hydraulics_playback.getCurrentPlayback()
retObj["states"] = hydraulics_drv.getAllStates()
retObj["currentState"] = hydraulics_drv.getState()
retObj["isRecording"] = hydraulics_drv.isRecording()
retObj["loopback_x"] = loopback_x
retObj["loopback_y"] = loopback_y
retObj["loopback_z"] = loopback_z
print("Adding currentState to the data {} ({})".format(
retObj["currentPlayback"], hydraulics_playback.getCurrentPlayback()))
return retObj
def getPlaybacks():
return hydraulics_playback.getList()