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