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jblitzar
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github-python

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if frameNumber == 0:
list_of_sensors_to_poll = range(7,27)
elif frameNumber == 1:
list_of_sensors_to_poll = range(7,17)
elif frameNumber == 2:
list_of_sensors_to_poll = range(17,21)
elif frameNumber == 3:
list_of_sensors_to_poll = range(21,27)
elif frameNumber == 4:
list_of_sensors_to_poll = range(27,35)
elif frameNumber == 5:
list_of_sensors_to_poll = range(35,43)
else:
list_of_sensors_to_poll = range(7,43)
# change our dictionary
self._readSensorList(list_of_sensors_to_poll, r)
return self.sensord
def printSensors(self):
""" convenience function to show sensed data in d
if d is None, the current self.sensord is used instead
"""
self.sensors([LEFT_BUMP,RIGHT_BUMP,LEFT_WHEEL_DROP,RIGHT_WHEEL_DROP,CENTER_WHEEL_DROP,WALL_IR_SENSOR,CLIFF_LEFT,CLIFF_FRONT_LEFT,CLIFF_FRONT_RIGHT,CLIFF_RIGHT,VIRTUAL_WALL,LEFT_WHEEL_OVERCURRENT,RIGHT_WHEEL_OVERCURRENT,INFRARED_BYTE,PLAY_BUTTON,ADVANCE_BUTTON,POSE,CHARGING_STATE,VOLTAGE,CURRENT,BATTERY_TEMP,BAT...
d = self.sensord
pose = d[POSE]
print ' LEFT_BUMP:', d[LEFT_BUMP]
print ' RIGHT_BUMP:', d[RIGHT_BUMP]
print ' LEFT_WHEEL_DROP:', d[LEFT_WHEEL_DROP]
print ' RIGHT_WHEEL_DROP:', d[RIGHT_WHEEL_DROP]
print ' CENTER_WHEEL_DROP:', d[CENTER_WHEEL_DROP]
print ' WALL_IR_SENSOR:', d[WALL_IR_SENSOR]
print ' CLIFF_LEFT:', d[CLIFF_LEFT]
print ' CLIFF_FRONT_LEFT:', d[CLIFF_FRONT_LEFT]
print ' CLIFF_FRONT_RIGHT:', d[CLIFF_FRONT_RIGHT]
print ' CLIFF_RIGHT:', d[CLIFF_RIGHT]
print ' VIRTUAL_WALL:', d[VIRTUAL_WALL]
print ' LEFT_WHEEL_OVERCURRENT:', d[LEFT_WHEEL_OVERCURRENT]
print ' RIGHT_WHEEL_OVERCURRENT:', d[RIGHT_WHEEL_OVERCURRENT]
print ' INFRARED_BYTE:', d[INFRARED_BYTE]
print ' PLAY_BUTTON:', d[PLAY_BUTTON]
print ' ADVANCE_BUTTON:', d[ADVANCE_BUTTON]
print ' POSE X (cm):', pose[0]
print ' POSE Y (cm):', pose[1]
print ' POSE TH (deg):', pose[2]
print ' CHARGING_STATE:', d[CHARGING_STATE]
print ' VOLTAGE:', d[VOLTAGE]
print ' CURRENT:', d[CURRENT]
print ' BATTERY_TEMP:', d[BATTERY_TEMP]
print ' BATTERY_CHARGE:', d[BATTERY_CHARGE]
print ' BATTERY_CAPACITY:', d[BATTERY_CAPACITY]
print ' WALL_SIGNAL:', d[WALL_SIGNAL]
print ' CLIFF_LEFT_SIGNAL:', d[CLIFF_LEFT_SIGNAL]
print ' CLIFF_FRONT_LEFT_SIGNAL:', d[CLIFF_FRONT_LEFT_SIGNAL]
print ' CLIFF_FRONT_RIGHT_SIGNAL:', d[CLIFF_FRONT_RIGHT_SIGNAL]
print ' CLIFF_RIGHT_SIGNAL:', d[CLIFF_RIGHT_SIGNAL]
print ' OI_MODE:', d[OI_MODE]
print ' SONG_NUMBER:', d[SONG_NUMBER]
print ' SONG_PLAYING:', d[SONG_PLAYING]
print ' ENCODER_LEFT:', d[ENCODER_LEFT]
print ' ENCODER_RIGHT:', d[ENCODER_RIGHT]
print ' LIGHTBUMP:', d[LIGHTBUMP]
print ' LIGHTBUMP_LEFT:', d[LIGHTBUMP_LEFT]
print ' LIGHTBUMP_FRONT_LEFT:', d[LIGHTBUMP_FRONT_LEFT]
print ' LIGHTBUMP_CENTER_LEFT:', d[LIGHTBUMP_CENTER_LEFT]
print ' LIGHTBUMP_CENTER_RIGHT:', d[LIGHTBUMP_CENTER_RIGHT]
print ' LIGHTBUMP_CENTER_RIGHT:', d[LIGHTBUMP_CENTER_RIGHT]
print ' LIGHTBUMP_RIGHT:', d[LIGHTBUMP_RIGHT]
print ' CHARGING_SOURCES_AVAILABLE:', d[CHARGING_SOURCES_AVAILABLE]
return d
def _readSensorList(self, sensor_data_list, r):
""" this returns the latest values from the particular
sensors requested in the listofvalues
"""
if len(sensor_data_list) == 0:
print 'No data was read in _readSensorList.'
return self.sensord
sensorDataInterpreter = [ None, # 0
None, # 1
None, # 2
None, # 3
None, # 4
None, # 5
None, # 6
self._getLower5Bits, # 7 BUMPS_AND_WHEEL_DROPS
self._getOneBit, # 8 WALL_IR_SENSOR
self._getOneBit, # 9 CLIFF_LEFT = 9
self._getOneBit, # 10 CLIFF_FRONT_LEFT = 10
self._getOneBit, # 11 CLIFF_FRONT_RIGHT = 11
self._getOneBit, # 12 CLIFF_RIGHT = 12
self._getOneBit, # 13 VIRTUAL_WALL
self._getLower5Bits, # 14 LSD_AND_OVERCURRENTS
self._getOneBit, # 15 DIRT_DETECTED
self._getOneBit, # 16 unused
self._getOneByteUnsigned, # 17 INFRARED_BYTE
self._getButtonBits, # 18 BUTTONS