Add movement class to python

client_s2/compLib/Movement.py

@@ -0,0 +1,57 @@
+import compLib.CompLib_pb2 as CompLib_pb2
+from compLib.CompLibClient import CompLibClient
+
+
+class Movement(object):
+    """High level class to control movement of the robot
+    """
+
+    @staticmethod
+    def drive_distance(distance: float, speed: float):
+        """
+        Drive a given distance with a certain speed.
+        Positive distance and speed with result in forward motion. Everything else will move backwards.
+        :param distance: Distance in meters
+        :param speed: Speed in meters per second
+        :return: None
+        """
+        request = CompLib_pb2.DriveDistanceRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+        request.distance_m = distance
+        request.velocity_m_s = speed
+
+        response = CompLib_pb2.GenericResponse()
+        response.ParseFromString(CompLibClient.send(request.SerializeToString(), request.ByteSize()))
+
+    @staticmethod
+    def turn_degrees(degrees: float, speed: float):
+        """
+        Turn specified degrees with a given speed.
+        Positive degrees and speed with result in counter-clockwise motion. Everything else will be clockwise
+        :param degrees: Degrees between -180 and 180
+        :param speed: Speed in radians per second
+        :return: None
+        """
+        request = CompLib_pb2.TurnDegreesRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+        request.angle_degrees = degrees
+        request.velocity_rad_s = speed
+
+        response = CompLib_pb2.GenericResponse()
+        response.ParseFromString(CompLibClient.send(request.SerializeToString(), request.ByteSize()))
+
+    @staticmethod
+    def drive(linear: float, angular: float):
+        """
+        Non-blocking way to perform a linear and angular motion at the same time.
+        :param linear: Linear speed in meters per second
+        :param angular: Angular speed in radians per second
+        :return: None
+        """
+        request = CompLib_pb2.DriveDistanceRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+        request.linear_velocity_m_s = linear
+        request.angular_velocity_rad_s = angular
+
+        response = CompLib_pb2.GenericResponse()
+        response.ParseFromString(CompLibClient.send(request.SerializeToString(), request.ByteSize()))