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Move client foler

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This commit is contained in:
Konstantin Lampalzer 2022-12-17 23:59:06 +01:00
parent 4c24717278
commit c02cfcd71c
75 changed files with 0 additions and 329 deletions
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37
compLib/Encoder.py Normal file
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import compLib.CompLib_pb2 as CompLib_pb2
from compLib.CompLibClient import CompLibClient
class Encoder(object):
"""Klasse zum Zugriff auf die Encoder der einzelnen Motoren
"""
@staticmethod
def read_all_positions():
"""Lesen aller absoluten Positionen der einzelnen Encoder
: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()))
return tuple(i for i in response.positions)
@staticmethod
def read_all_velocities():
"""Lesen der Geschwindigkeit aller angeschlossenen Motoren.
: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()))
return tuple(i for i in response.velocities)