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jblitzar
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github-python

Dataset card Data Studio Files
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the sensor data into the next packet to send back.
"""
self._write( SENSORS )
self._write( chr(6) )
def _getNextDataFrame(self):
""" This function then gets back ALL of
the sensor data and organizes it into the sensor
dictionary, sensord.
"""
r = self.ser.read(size=52)
r = [ ord(c) for c in r ]
#return self._readSensorList(r)
def _rawSend( self, listofints ):
for x in listofints:
self._write( chr(x) )
def _rawRecv( self ):
nBytesWaiting = self.ser.inWaiting()
#print 'nBytesWaiting is', nBytesWaiting
r = self.ser.read(size=nBytesWaiting)
r = [ ord(x) for x in r ]
#print 'r is', r
return r
def _rawRecvStr( self ):
nBytesWaiting = self.ser.inWaiting()
#print 'nBytesWaiting is', nBytesWaiting
r = self.ser.read(size=nBytesWaiting)
return r
def sensors( self, list_of_sensors_to_poll=6 ):
""" this function updates the robot's currently maintained
state of its robot sensors for those sensors requested
If none are requested, then all of the sensors are updated
(which takes a bit more time...)
"""
if type(list_of_sensors_to_poll) == type([]):
# first, we change any pieces of sensor values to
# the single digit that is required here
distangle = 0
if POSE in list_of_sensors_to_poll:
list_of_sensors_to_poll.remove(POSE)
# should check if they're already there
list_of_sensors_to_poll.append(DISTANCE)
list_of_sensors_to_poll.append(ANGLE)
if LEFT_BUMP in list_of_sensors_to_poll:
list_of_sensors_to_poll.remove(LEFT_BUMP)
if BUMPS_AND_WHEEL_DROPS not in list_of_sensors_to_poll:
list_of_sensors_to_poll.append(BUMPS_AND_WHEEL_DROPS)
if RIGHT_BUMP in list_of_sensors_to_poll:
list_of_sensors_to_poll.remove(RIGHT_BUMP)
if BUMPS_AND_WHEEL_DROPS not in list_of_sensors_to_poll:
list_of_sensors_to_poll.append(BUMPS_AND_WHEEL_DROPS)
if RIGHT_WHEEL_DROP in list_of_sensors_to_poll:
list_of_sensors_to_poll.remove(RIGHT_WHEEL_DROP)
if BUMPS_AND_WHEEL_DROPS not in list_of_sensors_to_poll:
list_of_sensors_to_poll.append(BUMPS_AND_WHEEL_DROPS)
if LEFT_WHEEL_DROP in list_of_sensors_to_poll:
list_of_sensors_to_poll.remove(LEFT_WHEEL_DROP)
if BUMPS_AND_WHEEL_DROPS not in list_of_sensors_to_poll:
list_of_sensors_to_poll.append(BUMPS_AND_WHEEL_DROPS)
if CENTER_WHEEL_DROP in list_of_sensors_to_poll:
list_of_sensors_to_poll.remove(CENTER_WHEEL_DROP)
if BUMPS_AND_WHEEL_DROPS not in list_of_sensors_to_poll:
list_of_sensors_to_poll.append(BUMPS_AND_WHEEL_DROPS)
if LEFT_WHEEL_OVERCURRENT in list_of_sensors_to_poll:
list_of_sensors_to_poll.remove(LEFT_WHEEL_OVERCURRENT)
if LSD_AND_OVERCURRENTS not in list_of_sensors_to_poll:
list_of_sensors_to_poll.append(LSD_AND_OVERCURRENTS)
if RIGHT_WHEEL_OVERCURRENT in list_of_sensors_to_poll:
list_of_sensors_to_poll.remove(RIGHT_WHEEL_OVERCURRENT)
if LSD_AND_OVERCURRENTS not in list_of_sensors_to_poll:
list_of_sensors_to_poll.append(LSD_AND_OVERCURRENTS)
if ADVANCE_BUTTON in list_of_sensors_to_poll:
list_of_sensors_to_poll.remove(ADVANCE_BUTTON)
if BUTTONS not in list_of_sensors_to_poll:
list_of_sensors_to_poll.append(BUTTONS)
if PLAY_BUTTON in list_of_sensors_to_poll:
list_of_sensors_to_poll.remove(PLAY_BUTTON)
if BUTTONS not in list_of_sensors_to_poll:
list_of_sensors_to_poll.append(BUTTONS)
r = self._getRawSensorDataAsList(list_of_sensors_to_poll)
else:
# if it's an integer, its a frame number
r = self._getRawSensorFrameAsList( list_of_sensors_to_poll )
# now, we set list_of_sensors_to_poll
frameNumber = list_of_sensors_to_poll