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proxi_generated.py
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proxi_generated.py
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from utils import *
class GeneratedProxy():
i2c_registers = {
"REG_MOVE":1,
"REG_ROTATE":2,
"REG_GOTO":3,
"REG_GETPOSITION":4,
"REG_SETODO":5,
"REG_SETDISTKPKD":6,
"REG_GETDISTKPKD":7,
"REG_SETROTKPKD":8,
"REG_GETROTKPKD":9,
"REG_GETTICKS":10,
"REG_SETTICKS":11,
"REG_GETULTRASOUNDS":12,
"REG_GETSTATUS":13,
"REG_SETSERVO":14,
"REG_SETTICKRATIO":15,
"REG_SETMAXSPEEDS":16,
"REG_GETMAXSPEEDS":17,
}
def move(self,rel_dist,sign):
vals=[]
vals.extend(split_uinteger_32(rel_dist))
vals.extend(split_integer_8(sign))
self.writeBlock(self.i2c_registers['REG_MOVE'],vals)
def rotate(self,angle,isAbs):
vals=[]
vals.extend(split_double_32(angle))
vals.extend(split_bool_8(isAbs))
self.writeBlock(self.i2c_registers['REG_ROTATE'],vals)
def goto(self,x,y,delta_max):
vals=[]
vals.extend(split_integer_32(x))
vals.extend(split_integer_32(y))
vals.extend(split_integer_32(delta_max))
self.writeBlock(self.i2c_registers['REG_GOTO'],vals)
def getPosition(self,):
vals=self.readBlock(self.i2c_registers['REG_GETPOSITION'],12)
res=0
x=make_integer_32(vals,0)
y=make_integer_32(vals,4)
angle=make_double_32(vals,8)
return res,x,y,angle
def setOdo(self,x,y,angle,flag):
vals=[]
vals.extend(split_integer_32(x))
vals.extend(split_integer_32(y))
vals.extend(split_double_32(angle))
vals.extend(split_integer_8(flag))
self.writeBlock(self.i2c_registers['REG_SETODO'],vals)
def setDistKpKd(self,kp,kd):
vals=[]
vals.extend(split_uinteger_32(kp))
vals.extend(split_uinteger_32(kd))
self.writeBlock(self.i2c_registers['REG_SETDISTKPKD'],vals)
def getDistKpKd(self,):
vals=self.readBlock(self.i2c_registers['REG_GETDISTKPKD'],8)
res=0
kp=make_uinteger_32(vals,0)
kd=make_uinteger_32(vals,4)
return res,kp,kd
def setRotKpKd(self,kp,kd):
vals=[]
vals.extend(split_uinteger_32(kp))
vals.extend(split_uinteger_32(kd))
self.writeBlock(self.i2c_registers['REG_SETROTKPKD'],vals)
def getRotKpKd(self,):
vals=self.readBlock(self.i2c_registers['REG_GETROTKPKD'],8)
res=0
kp=make_uinteger_32(vals,0)
kd=make_uinteger_32(vals,4)
return res,kp,kd
def getTicks(self,):
vals=self.readBlock(self.i2c_registers['REG_GETTICKS'],8)
res=0
left=make_integer_32(vals,0)
right=make_integer_32(vals,4)
return res,left,right
def setTicks(self,left,right):
vals=[]
vals.extend(split_integer_32(left))
vals.extend(split_integer_32(right))
self.writeBlock(self.i2c_registers['REG_SETTICKS'],vals)
def getUltrasounds(self,):
vals=self.readBlock(self.i2c_registers['REG_GETULTRASOUNDS'],4)
res=0
dist=make_integer_32(vals,0)
return res,dist
def getStatus(self,):
vals=self.readBlock(self.i2c_registers['REG_GETSTATUS'],5)
res=0
bfr=make_bool_8(vals,0)
bfl=make_bool_8(vals,1)
bbr=make_bool_8(vals,2)
bbl=make_bool_8(vals,3)
cmdhack=make_bool_8(vals,4)
return res,bfr,bfl,bbr,bbl,cmdhack
def setServo(self,pin,angle):
vals=[]
vals.extend(split_integer_32(pin))
vals.extend(split_integer_32(angle))
self.writeBlock(self.i2c_registers['REG_SETSERVO'],vals)
def setTickRatio(self,new_ticks_per_meters,new_ticks_per_rads):
vals=[]
vals.extend(split_uinteger_32(new_ticks_per_meters))
vals.extend(split_uinteger_32(new_ticks_per_rads))
self.writeBlock(self.i2c_registers['REG_SETTICKRATIO'],vals)
def setMaxSpeeds(self,new_rot_speed,new_dist_speed):
vals=[]
vals.extend(split_uinteger_32(new_rot_speed))
vals.extend(split_uinteger_32(new_dist_speed))
self.writeBlock(self.i2c_registers['REG_SETMAXSPEEDS'],vals)
def getMaxSpeeds(self,):
vals=self.readBlock(self.i2c_registers['REG_GETMAXSPEEDS'],8)
res=0
rot_speed=make_uinteger_32(vals,0)
dist_speed=make_uinteger_32(vals,4)
return res,rot_speed,dist_speed