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github-python-corpus

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# += would be more efficient
#
# actually, we should make a list and call ''.join(list)
# not that we will...
#
s = ''
s += 'casterDrop: ' + str(self.casterDrop) + '\n'
s += 'leftWheelDrop: ' + str(self.leftWheelDrop) + '\n'
s += 'rightWheelDrop: ' + str(self.rightWheelDrop) + '\n'
s += 'leftBump: ' + str(self.leftBump) + '\n'
s += 'rightBump: ' + str(self.rightBump) + '\n'
s += 'wallSensor: ' + str(self.wallSensor) + '\n'
s += 'leftCliff: ' + str(self.leftCliff) + '\n'
s += 'frontLeftCliff: ' + str(self.frontLeftCliff) + '\n'
s += 'frontRightCliff: ' + str(self.frontRightCliff) + '\n'
s += 'rightCliff: ' + str(self.rightCliff) + '\n'
s += 'virtualWall: ' + str(self.virtualWall) + '\n'
s += 'driveLeft: ' + str(self.driveLeft) + '\n'
s += 'driveRight: ' + str(self.driveRight) + '\n'
s += 'mainBrush: ' + str(self.mainBrush) + '\n'
s += 'vacuum: ' + str(self.vacuum) + '\n'
s += 'sideBrush: ' + str(self.sideBrush) + '\n'
s += 'leftDirt: ' + str(self.leftDirt) + '\n'
s += 'rightDirt: ' + str(self.rightDirt) + '\n'
s += 'remoteControlCommand: ' + str(self.remoteControlCommand) + '\n'
s += 'powerButton: ' + str(self.powerButton) + '\n'
s += 'spotButton: ' + str(self.spotButton) + '\n'
s += 'cleanButton: ' + str(self.cleanButton) + '\n'
s += 'maxButton: ' + str(self.maxButton) + '\n'
s += 'distance: ' + str(self.distance) + '\n'
s += 'rawAngle: ' + str(self.rawAngle) + '\n'
s += 'angleInRadians: ' + str(self.angleInRadians) + '\n'
# no data member needed for this next line
s += 'angleInDegrees: ' + str(math.degrees(self.angleInRadians)) + '\n'
s += 'chargingState: ' + str(self.chargingState) + '\n'
s += 'voltage: ' + str(self.voltage) + '\n'
s += 'current: ' + str(self.current) + '\n'
s += 'temperature: ' + str(self.temperature) + '\n'
s += 'charge: ' + str(self.charge) + '\n'
s += 'capacity: ' + str(self.capacity) + '\n'
return s
def _toBinaryString(self):
""" this converts the calling SensorFrame into a 26-byte
string of the format the roomba sends back
"""
# todo: handle the different subsets (frames) of sensor data
# here are the 26 bytes in list form
slist = [0]*26
# First Frame
# byte 0: bumps and wheeldrops
slist[0] = self.casterDrop << 4 | \
self.leftWheelDrop << 3 | \
self.rightWheelDrop << 2 | \
self.leftBump << 1 | \
self.rightBump
# byte 1: wall data
slist[1] = self.wallSensor
# byte 2: cliff left
slist[2] = self.leftCliff
# byte 3: cliff front left
slist[3] = self.frontLeftCliff
# byte 4: cliff front right
slist[4] = self.frontRightCliff
# byte 5: cliff right
slist[5] = self.rightCliff
# byte 6: virtual wall
slist[6] = self.virtualWall
# byte 7: motor overcurrents
slist[7] = self.driveLeft << 4 | \
self.driveRight << 3 | \
self.mainBrush << 2 | \
self.vacuum << 1 | \
self.sideBrush
# byte 8: dirt detector left
slist[8] = self.leftDirt
# byte 9: dirt detector left
slist[9] = self.rightDirt
# Second Frame
# byte 10: remote control command
slist[10] = self.remoteControlCommand
# byte 11: buttons
slist[11] = self.powerButton << 3 | \
self.spotButton << 2 | \
self.cleanButton << 1 | \
self.maxButton
# bytes 12, 13: distance
highVal, lowVal = _toTwosComplement2Bytes( self.distance )