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