compAIR/compLIB
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update documentation

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This commit is contained in:
Konstantin Lampalzer 2022-10-13 00:31:43 +02:00
parent e1a17808f7
commit af3aaf7998
7 changed files with 88 additions and 16 deletions
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16
client/compLib/Encoder.py
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@ -3,33 +3,35 @@ from compLib.CompLibClient import CompLibClient
class Encoder(object):
"""Class used to read the encoders
"""Klasse zum Zugriff auf die Encoder der einzelnen Motoren
"""
@staticmethod
def read_all_positions():
"""Read all encoder positions.
"""Lesen aller absoluten Positionen der einzelnen Encoder
:return: Tuple of all current encoder positions
:return: Tupel mit allen aktuellen Encoderpositionen
"""
request = CompLib_pb2.EncoderReadPositionsRequest()
request.header.message_type = request.DESCRIPTOR.full_name
response = CompLib_pb2.EncoderReadPositionsResponse()
response.ParseFromString(CompLibClient.send(request.SerializeToString(), request.ByteSize()))
response.ParseFromString(CompLibClient.send(
request.SerializeToString(), request.ByteSize()))
return tuple(i for i in response.positions)
@staticmethod
def read_all_velocities():
"""Read the velocity of all motors connected.
"""Lesen der Geschwindigkeit aller angeschlossenen Motoren.
:return: Tuple of all current motor velocities
:return: Tupel aller aktuellen Motorgeschwindigkeiten in Radianten pro Sekunde
"""
request = CompLib_pb2.EncoderReadVelocitiesRequest()
request.header.message_type = request.DESCRIPTOR.full_name
response = CompLib_pb2.EncoderReadVelocitiesResponse()
response.ParseFromString(CompLibClient.send(request.SerializeToString(), request.ByteSize()))
response.ParseFromString(CompLibClient.send(
request.SerializeToString(), request.ByteSize()))
return tuple(i for i in response.velocities)