def __init__(self, parent, uuid='SensorBoard'):
SecureArduino.__init__(self, parent, uuid, default_result=self.DEFAULT)
self.last_time = None
try:
self.addTopic(GET_ALL_TOPIC_OPCODE,
self.get_all_sensors_handler, "sensors", self.TIMESTEP)
except:
pass
self.sensor1 = self.MAX_DIST
self.sensor2 = self.MAX_DIST
self.sensor3 = self.MAX_DIST
self.sensor4 = self.MAX_DIST
self.sensor5 = self.MAX_DIST
self.sensor6 = self.MAX_DIST
self.sensor7 = self.MAX_DIST
self.sensor8 = self.MAX_DIST
def __init__(self, parent, uuid='sensors'):
SecureArduino.__init__(self, parent, uuid, default_result=self.DEFAULT)
self.last_time = None
self.last_both = (SensorsIR.ERROR_DIST, SensorsIR.ERROR_DIST)
def __init__(self, parent, uuid='sensors'):
SecureArduino.__init__(self, parent, uuid, Sensors._DEFAULT)
def __init__(self, parent, uuid='/tmp/arduino/BMS'):
SecureArduino.__init__(self, parent, uuid, BMS._DEFAULT)
def __init__(self, parent, uuid='wheeledbase'):
SecureArduino.__init__(self, parent, uuid, WheeledBase._DEFAULT)
self.left_wheel_radius = WheeledBase.Parameter(self,
LEFTWHEEL_RADIUS_ID,
FLOAT)
self.left_wheel_constant = WheeledBase.Parameter(
self, LEFTWHEEL_CONSTANT_ID, FLOAT)
self.left_wheel_maxPWM = WheeledBase.Parameter(self,
LEFTWHEEL_MAXPWM_ID,
FLOAT)
self.right_wheel_radius = WheeledBase.Parameter(
self, RIGHTWHEEL_RADIUS_ID, FLOAT)
self.right_wheel_constant = WheeledBase.Parameter(
self, RIGHTWHEEL_CONSTANT_ID, FLOAT)
self.right_wheel_maxPWM = WheeledBase.Parameter(
self, RIGHTWHEEL_MAXPWM_ID, FLOAT)
self.left_codewheel_radius = WheeledBase.Parameter(
self, LEFTCODEWHEEL_RADIUS_ID, FLOAT)
self.left_codewheel_counts_per_rev = WheeledBase.Parameter(
self, LEFTCODEWHEEL_COUNTSPERREV_ID, LONG)
self.right_codewheel_radius = WheeledBase.Parameter(
self, RIGHTCODEWHEEL_RADIUS_ID, FLOAT)
self.right_codewheel_counts_per_rev = WheeledBase.Parameter(
self, RIGHTCODEWHEEL_COUNTSPERREV_ID, LONG)
self.codewheels_axletrack = WheeledBase.Parameter(
self, ODOMETRY_AXLETRACK_ID, FLOAT)
self.odometry_slippage = WheeledBase.Parameter(self,
ODOMETRY_SLIPPAGE_ID,
FLOAT)
self.wheels_axletrack = WheeledBase.Parameter(
self, VELOCITYCONTROL_AXLETRACK_ID, FLOAT)
self.max_linacc = WheeledBase.Parameter(self,
VELOCITYCONTROL_MAXLINACC_ID,
FLOAT)
self.max_lindec = WheeledBase.Parameter(self,
VELOCITYCONTROL_MAXLINDEC_ID,
FLOAT)
self.max_angacc = WheeledBase.Parameter(self,
VELOCITYCONTROL_MAXANGACC_ID,
FLOAT)
self.max_angdec = WheeledBase.Parameter(self,
VELOCITYCONTROL_MAXANGDEC_ID,
FLOAT)
self.spin_shutdown = WheeledBase.Parameter(
self, VELOCITYCONTROL_SPINSHUTDOWN_ID, BYTE)
self.linvel_KP = WheeledBase.Parameter(self, LINVELPID_KP_ID, FLOAT)
self.linvel_KI = WheeledBase.Parameter(self, LINVELPID_KI_ID, FLOAT)
self.linvel_KD = WheeledBase.Parameter(self, LINVELPID_KD_ID, FLOAT)
self.angvel_KP = WheeledBase.Parameter(self, ANGVELPID_KP_ID, FLOAT)
self.angvel_KI = WheeledBase.Parameter(self, ANGVELPID_KI_ID, FLOAT)
self.angvel_KD = WheeledBase.Parameter(self, ANGVELPID_KD_ID, FLOAT)
self.linpos_KP = WheeledBase.Parameter(self,
POSITIONCONTROL_LINVELKP_ID,
FLOAT)
self.angpos_KP = WheeledBase.Parameter(self,
POSITIONCONTROL_ANGVELKP_ID,
FLOAT)
self.max_linvel = WheeledBase.Parameter(self,
POSITIONCONTROL_LINVELMAX_ID,
FLOAT)
self.max_angvel = WheeledBase.Parameter(self,
POSITIONCONTROL_ANGVELMAX_ID,
FLOAT)
self.linpos_threshold = WheeledBase.Parameter(
self, POSITIONCONTROL_LINPOSTHRESHOLD_ID, FLOAT)
self.angpos_threshold = WheeledBase.Parameter(
self, POSITIONCONTROL_ANGPOSTHRESHOLD_ID, FLOAT)
self.lookahead = WheeledBase.Parameter(self, PUREPURSUIT_LOOKAHEAD_ID,
FLOAT)
self.lookaheadbis = WheeledBase.Parameter(self,
PUREPURSUIT_LOOKAHEADBIS_ID,
FLOAT)
self.x = 0
self.y = 0
self.theta = 0
self.previous_measure = 0
self.direction = self.NO_DIR
self.final_angle = 0
self.latch = None
self.latch_time = None
def __init__(self, parent, matrix_id, uuid='display'):
SecureArduino.__init__(self, parent, uuid, dict())
self.matrix_id = matrix_id
def __init__(self, parent, uuid='display'):
SecureArduino.__init__(self, parent, uuid, dict())
def __init__(self, parent, uuid='ColorSensors'):
SecureArduino.__init__(self, parent, uuid, self.DEFAULT)