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