Move client foler

compLib/Motor.py

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+import compLib.CompLib_pb2 as CompLib_pb2
+from compLib.CompLibClient import CompLibClient
+
+MOTOR_COUNT = 4
+
+
+class Motor(object):
+    """Klasse zum Ansteuern der Motoren
+    """
+
+    @staticmethod
+    def power(port: int, percent: float):
+        """Motor auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen
+
+        :param port: Port, an welchen der Motor angesteckt ist. 0-3
+        :param percent: Prozentsatz der Höchstgeschwindigkeit. zwischen -100 und 100
+        :raises: IndexError
+        """
+
+        if port < 0 or port >= MOTOR_COUNT:
+            raise IndexError("Invalid Motor port specified!")
+
+        if percent < -100 or percent > 100:
+            raise IndexError(
+                "Invalid Motor speed specified! Speed is between -100 and 100 percent!")
+
+        request = CompLib_pb2.MotorSetPowerRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+        request.port = port
+        request.power = percent
+
+        CompLibClient.send(request.SerializeToString(), request.ByteSize())
+
+    @staticmethod
+    def multiple_power(*arguments: tuple[int, float]):
+        """Mehrere Motoren auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen
+
+        :param arguments: tuple von port, percentage
+        :raises: IndexError
+        """
+        request = CompLib_pb2.MotorsSetPowerRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+
+        for port, percent in arguments:
+            if port < 0 or port >= MOTOR_COUNT:
+                raise IndexError("Invalid Motor port specified!")
+
+            if percent < -100 or percent > 100:
+                raise IndexError(
+                    "Invalid Motor speed specified! Speed is between -100 and 100 percent!")
+
+            inner_request = CompLib_pb2.MotorSetPowerRequest()
+            inner_request.port = port
+            inner_request.power = percent
+
+            request.requests.append(inner_request)
+
+        CompLibClient.send(request.SerializeToString(), request.ByteSize())
+
+    @staticmethod
+    def speed(port: int, speed: float):
+        """Geschwindigkeit des Motors einstellen
+
+        :param port: Port, an welchen der Motor angesteckt ist. 0-3
+        :param speed: Drehzahl, mit der sich ein Motor dreht, in Centimeter pro Sekunde (cm/s)
+        :raises: IndexError
+        """
+
+        if port < 0 or port >= MOTOR_COUNT:
+            raise IndexError("Invalid Motor port specified!")
+
+        request = CompLib_pb2.MotorSetSpeedRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+        request.port = port
+        request.speed = speed
+
+        CompLibClient.send(request.SerializeToString(), request.ByteSize())
+
+    @staticmethod
+    def multiple_speed(*arguments: tuple[int, float]):
+        """Geschwindigkeit mehrerer Motoren einstellen
+
+        :param arguments: tuple von port, Geschwindigkeit in Radianten pro Sekunde (rad/s)
+        :raises: IndexError
+        """
+
+        request = CompLib_pb2.MotorsSetSpeedRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+
+        for port, speed in arguments:
+            if port < 0 or port >= MOTOR_COUNT:
+                raise IndexError("Invalid Motor port specified!")
+
+            inner_request = CompLib_pb2.MotorSetSpeedRequest()
+            inner_request.port = port
+            inner_request.speed = speed
+
+            request.requests.append(inner_request)
+
+        CompLibClient.send(request.SerializeToString(), request.ByteSize())
+
+    @staticmethod
+    def pulse_width(port: int, percent: float):
+        """Setzen den Pulsbreite eines Motors in Prozent der Periode
+
+        :param port: Port, an welchen der Motor angesteckt ist. 0-3
+        :param percent: Prozent der Periode zwischen -100 und 100
+        :raises: IndexError
+        """
+
+        if port < 0 or port >= MOTOR_COUNT:
+            raise IndexError("Invalid Motor port specified!")
+
+        request = CompLib_pb2.MotorSetPulseWidthRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+        request.port = port
+        request.percent = percent
+
+        CompLibClient.send(request.SerializeToString(), request.ByteSize())
+
+    @staticmethod
+    def multiple_pulse_width(*arguments: tuple[int, float]):
+        """Setzen den Pulsbreite mehrerer Motoren in Prozent der Periode
+
+        :param arguments: tuple von port, prozent
+        :raises: IndexError
+        """
+
+        request = CompLib_pb2.MotorsSetPulseWidthRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+
+        for port, percent in arguments:
+            if port < 0 or port >= MOTOR_COUNT:
+                raise IndexError("Invalid Motor port specified!")
+
+            inner_request = CompLib_pb2.MotorSetPulseWidthRequest()
+            inner_request.port = port
+            inner_request.percent = percent
+
+            request.requests.append(inner_request)
+
+        CompLibClient.send(request.SerializeToString(), request.ByteSize())