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lowerbits = byte & 127
if topbit == 1:
return lowerbits - (1 << 7)
else:
return lowerbits
def _twosComplementInt2bytes( highByte, lowByte ):
""" returns an int which has the same value
as the twosComplement value stored in
the two bytes passed in
the output range should be -32768 to 32767
chars or ints can be input, both will be
truncated to 8 bits
"""
# take everything except the top bit
topbit = _bitOfByte( 7, highByte )
lowerbits = highByte & 127
unsignedInt = lowerbits << 8 | (lowByte & 0xFF)
if topbit == 1:
# with sufficient thought, I've convinced
# myself of this... we'll see, I suppose.
return unsignedInt - (1 << 15)
else:
return unsignedInt
def _toTwosComplement2Bytes( value ):
""" returns two bytes (ints) in high, low order
whose bits form the input value when interpreted in
two's complement
"""
# if positive or zero, it's OK
if value >= 0:
eqBitVal = value
# if it's negative, I think it is this
else:
eqBitVal = (1<<16) + value
return ( (eqBitVal >> 8) & 0xFF, eqBitVal & 0xFF )
#
# this class represents a snapshot of the robot's data
#
class SensorFrame:
""" the sensorFrame class is really a struct whose
fields are filled in by sensorStatus
"""
def __init__(self):
""" constructor -- set all fields to 0
"""
self.casterDrop = 0
self.leftWheelDrop = 0
self.rightWheelDrop = 0
self.leftBump = 0
self.rightBump = 0
self.wallSensor = 0
self.leftCliff = 0
self.frontLeftCliff = 0
self.frontRightCliff = 0
self.rightCliff = 0
self.virtualWall = 0
self.driveLeft = 0
self.driveRight = 0
self.mainBrush = 0
self.vacuum = 0
self.sideBrush = 0
self.leftDirt = 0
self.rightDirt = 0
self.remoteControlCommand = 0
self.powerButton = 0
self.spotButton = 0
self.cleanButton = 0
self.maxButton = 0
self.distance = 0
self.rawAngle = 0
self.angleInRadians = 0
self.chargingState = 0
self.voltage = 0
self.current = 0
self.temperature = 0
self.charge = 0
self.capacity = 0
self.lightBumpLeft = 0
self.lightBumpFrontLeft = 0
self.lightCenterLeft = 0
self.lightCenterRight = 0
self.lightBumpFrontRight = 0
self.lightBumpRight = 0
self.dirt = 0
def __str__(self):
""" returns a string with the information
from this SensorFrame
"""
# there's probably a more efficient way to do this...
# perhaps just making it all + instead of the separate