text stringlengths 0 93.6k |
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update_pose = True |
#resultingValues.append(interpretedData) |
# update index for next sensor... |
startofdata = startofdata + width |
#if (distance != 0 or angle != 0): |
# self._integrateNextOdometricStepCreate(distance,angle) |
if update_pose == True: |
self._integrateNextEncoderStep() |
self.sensord[POSE] = self.getPose(dist='cm',angle='deg') |
def toFullMode(self): |
""" changes the state to FULL_MODE |
""" |
self._start() |
time.sleep(0.03) |
self.toSafeMode() |
time.sleep(0.03) |
self._write( FULL ) |
time.sleep(0.03) |
self.sciMode = FULL_MODE |
return |
def toSafeMode(self): |
""" changes the state (from PASSIVE_MODE or FULL_MODE) |
to SAFE_MODE |
""" |
self._start() |
time.sleep(0.03) |
# now we're in PASSIVE_MODE, so we repeat the above code... |
self._write( SAFE ) |
# they recommend 20 ms between mode-changing commands |
time.sleep(0.03) |
# change the mode we think we're in... |
self.sciMode = SAFE_MODE |
# no response here, so we don't get any... |
return |
def getMode(self): |
""" returns one of OFF_MODE, PASSIVE_MODE, SAFE_MODE, FULL_MODE """ |
# but how right is it? |
return self.sciMode |
def _setBaudRate(self, baudrate=10): |
""" sets the communications rate to the desired value """ |
# check for OK value |
#baudcode = 10 # 57600, the default |
if baudrate == 300: baudcode = 0 |
elif baudrate == 600: baudcode = 1 |
elif baudrate == 1200: baudcode = 2 |
elif baudrate == 2400: baudcode = 3 |
elif baudrate == 4800: baudcode = 4 |
elif baudrate == 9600: baudcode = 5 |
elif baudrate == 14400: baudcode = 6 |
elif baudrate == 19200: baudcode = 7 |
elif baudrate == 28800: baudcode = 8 |
elif baudrate == 38400: baudcode = 9 |
elif baudrate == 57600: baudcode = 10 |
elif baudrate == 115200: baudcode = 11 |
else: |
print 'The baudrate of', baudrate, 'in _setBaudRate' |
print 'was not recognized. Not sending anything.' |
return |
# otherwise, send off the message |
self._write( START ) |
self._write( chr(baudcode) ) |
# the recommended pause |
time.sleep(0.1) |
# change the mode we think we're in... |
self.sciMode = PASSIVE_MODE |
# no response here, so we don't get any... |
return |
# Some new stuff added by Sean |
def _startScript(self, number_of_bytes): |
self._write( SCRIPT ) |
self._write( chr(number_of_bytes) ) |
return |
def _endScript(self, timeout=-1.0): |
# issue the ENDSCRIPT command to start the script |
self._write( ENDSCRIPT ) |
interval = 1.0 |
total = 0.0 |
# strip out all existing crap |
while(self.ser.read(8192) != ''): |
continue |
# poll |
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