compAIR/compLIB
compAIR/compLIB
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Cleanup

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This commit is contained in:
Konstantin Lampalzer 2022-10-07 16:35:37 +02:00
parent c16a7172e7
commit d4a7d8c0c0
186 changed files with 1 additions and 7056 deletions
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35
client_s2/compLib/Encoder.py
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@ -1,35 +0,0 @@
import compLib.CompLib_pb2 as CompLib_pb2
from compLib.CompLibClient import CompLibClient
class Encoder(object):
"""Class used to read the encoders
"""
@staticmethod
def read_all_positions():
"""Read all encoder positions.
:return: Tuple of all current encoder positions
"""
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():
"""Read the velocity of all motors connected.
:return: Tuple of all current motor velocities
"""
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)