text
stringlengths 1
93.6k
|
|---|
self._getTwoBytesSigned, # 19 DISTANCE
|
self._getTwoBytesSigned, # 20 ANGLE
|
self._getOneByteUnsigned, # 21 CHARGING_STATE
|
self._getTwoBytesUnsigned, # 22 VOLTAGE
|
self._getTwoBytesSigned, # 23 CURRENT
|
self._getOneByteSigned, # 24 BATTERY_TEMP
|
self._getTwoBytesUnsigned, # 25 BATTERY_CHARGE
|
self._getTwoBytesUnsigned, # 26 BATTERY_CAPACITY
|
self._getTwoBytesUnsigned, # 27 WALL_SIGNAL
|
self._getTwoBytesUnsigned, # 28 CLIFF_LEFT_SIGNAL
|
self._getTwoBytesUnsigned, # 29 CLIFF_FRONT_LEFT_SIGNAL
|
self._getTwoBytesUnsigned, # 30 CLIFF_FRONT_RIGHT_SIGNAL
|
self._getTwoBytesUnsigned, # 31 CLIFF_RIGHT_SIGNAL
|
self._getLower5Bits, # 32 CARGO_BAY_DIGITAL_INPUTS
|
self._getTwoBytesUnsigned, # 33 CARGO_BAY_ANALOG_SIGNAL
|
self._getOneByteUnsigned, # 34 CHARGING_SOURCES_AVAILABLE
|
self._getOneByteUnsigned, # 35 OI_MODE
|
self._getOneByteUnsigned, # 36 SONG_NUMBER
|
self._getOneByteUnsigned, # 37 SONG_PLAYING
|
self._getOneByteUnsigned, # 38 NUM_STREAM_PACKETS
|
self._getTwoBytesSigned, # 39 REQUESTED_VELOCITY
|
self._getTwoBytesSigned, # 40 REQUESTED_RADIUS
|
self._getTwoBytesSigned, # 41 REQUESTED_RIGHT_VELOCITY
|
self._getTwoBytesSigned, # 42 REQUESTED_LEFT_VELOCITY
|
self._getTwoBytesUnsigned, # 43 Left Encoder Counts
|
self._getTwoBytesUnsigned, # 44 Right Encoder Counts
|
self._getOneByteUnsigned, # 45 LIGH_BUMP
|
self._getTwoBytesUnsigned, # 46 LIGHTBUMP_LEFT
|
self._getTwoBytesUnsigned, # 47 LIGHTBUMP_FRONT_LEFT
|
self._getTwoBytesUnsigned, # 48 LIGHTBUMP_CENTER_LEFT
|
self._getTwoBytesUnsigned, # 49 LIGHTBUMP_CENTER_RIGHT
|
self._getTwoBytesUnsigned, # 50 LIGHTBUMP_FRONT_RIGHT
|
self._getTwoBytesUnsigned, # 51 LIGHTBUMP_RIGHT
|
None # only 51 as of right now
|
]
|
startofdata = 0
|
distance = 0
|
angle = 0
|
update_pose = False
|
for sensorNum in sensor_data_list:
|
width = SENSOR_DATA_WIDTH[sensorNum]
|
dataGetter = sensorDataInterpreter[sensorNum]
|
interpretedData = 0
|
if (width == 1):
|
if startofdata >= len(r):
|
print "Incomplete Sensor Packet"
|
break
|
else: interpretedData = dataGetter(r[startofdata])
|
if (width == 2):
|
if startofdata >= len(r) - 1:
|
print "Incomplete Sensor Packet"
|
break
|
else: interpretedData = dataGetter(r[startofdata], r[startofdata+1] )
|
# add to our dictionary
|
self.sensord[sensorNum] = interpretedData
|
# POSE = 100 - later
|
#LEFT_BUMP = 101
|
#RIGHT_BUMP = 102
|
#LEFT_WHEEL_DROP = 103
|
#RIGHT_WHEEL_DROP = 104
|
#CENTER_WHEEL_DROP = 105
|
if sensorNum == BUMPS_AND_WHEEL_DROPS:
|
self.sensord[CENTER_WHEEL_DROP] = interpretedData[0]
|
self.sensord[LEFT_WHEEL_DROP] = interpretedData[1]
|
self.sensord[RIGHT_WHEEL_DROP] = interpretedData[2]
|
self.sensord[LEFT_BUMP] = interpretedData[3]
|
self.sensord[RIGHT_BUMP] = interpretedData[4]
|
#LEFT_WHEEL_OVERCURRENT = 106
|
#RIGHT_WHEEL_OVERCURRENT = 107
|
if sensorNum == LSD_AND_OVERCURRENTS:
|
self.sensord[LEFT_WHEEL_OVERCURRENT] = interpretedData[0]
|
self.sensord[RIGHT_WHEEL_OVERCURRENT] = interpretedData[1]
|
#ADVANCE_BUTTON = 108
|
#PLAY_BUTTON = 109
|
if sensorNum == BUTTONS:
|
self.sensord[ADVANCE_BUTTON] = interpretedData[0]
|
self.sensord[PLAY_BUTTON] = interpretedData[1]
|
if sensorNum == DIRT_DETECTED:
|
self.sensord[DIRT_DETECTED] = interpretedData
|
# handle special cases
|
if (sensorNum == DISTANCE):
|
distance = interpretedData
|
if (sensorNum == ANGLE):
|
angle = interpretedData
|
if (sensorNum == ENCODER_LEFT):
|
self.leftEncoder = interpretedData
|
update_pose = True
|
if (sensorNum == ENCODER_RIGHT):
|
self.rightEncoder = interpretedData
|
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.