def getEncoder(self):
# Assemble packet and write to USB
packet = pu.getPacket(0x08, self.cid, list())
self.ser.write(packet)
# Read four bytes
resp = su.readBytes(4)
# Check if the read failed, if yes, return -1
if pu.isEmpty(resp):
return -1
# Get Integer
return su.BytesToInt(resp[0:4])
def getFault(self):
# Assemble packet and write to SPI
packet = pu.getPacket(0x0F, self.cid, list())
self.ser.write(packet)
# Read one byte
resp = su.readBytes(1)
# Check if the read failed, if yes, return -1
if pu.isEmpty(resp):
return -1
# If read succeeded, return first element, the fault state
return resp[0]
def getCurrent(self):
# Assemble packet and write to USB
packet = pu.getPacket(0x04, self.cid, list())
self.ser.write(packet)
# Read two bytes
resp = su.readBytes(2)
# Check if the read failed, if yes, return -1
if pu.isEmpty(resp):
return -1
# If read succeeded, return current in mA as short
return su.BytesToShort(resp)