| 184,6 → 184,8 |
|---|
| |
| |
| class DebugDataMsg: |
| IDX_ANALOG_ANGLENICK= 2+2*0 |
| IDX_ANALOG_ANGLEROLL= 2+2*1 |
| IDX_ANALOG_ACCNICK = 2+2*2 |
| IDX_ANALOG_ACCROLL = 2+2*3 |
| IDX_ANALOG_COMPASS = 2+2*3 |
| 194,6 → 196,12 |
|---|
| raise InvalidMsgType |
| self.msg = msg |
| |
| def getAngleNick(self): |
| return self.msg.data2SignedInt(DebugDataMsg.IDX_ANALOG_ANGLENICK) |
| |
| def getAngleRoll(self): |
| return self.msg.data2SignedInt(DebugDataMsg.IDX_ANALOG_ANGLEROLL) |
| |
| def getAccNick(self): |
| return self.msg.data2SignedInt(DebugDataMsg.IDX_ANALOG_ACCNICK) |
| |
| 336,6 → 344,17 |
|---|
| data[0]=data[1] |
| return data |
| |
| def recordDbgMsg(self, samplePeriod, nbSamples): |
| result = [] |
| self.serPort.flushInput() |
| msg = MkMsg(address=0, cmd='d', data=[int(samplePeriod*100)]) |
| self.sendMsg(msg) |
| for i in range(nbSamples): |
| print i |
| msg = self.waitForMsg('D', timeout=samplePeriod+1) |
| msg = DebugDataMsg(msg) |
| result.append(msg) |
| return result |
| |
| |
| |
| 348,18 → 367,21 |
|---|
| msg = comm.getVersionMsg() |
| print "Version: %d.%d" % msg.getVersion() |
| |
| msg = comm.getSettingsMsg() |
| print "Index=",msg.getIndex() |
| print "Name=",msg.getName() |
| print "StickP=",msg.getSetting(SettingsMsg.IDX_STICK_P) |
| print "StickD=",msg.getSetting(SettingsMsg.IDX_STICK_D) |
| # msg = comm.getSettingsMsg() |
| # print "Index=",msg.getIndex() |
| # print "Name=",msg.getName() |
| # print "StickP=",msg.getSetting(SettingsMsg.IDX_STICK_P) |
| # print "StickD=",msg.getSetting(SettingsMsg.IDX_STICK_D) |
| # |
| # msg.setSetting(SettingsMsg.IDX_STICK_P, msg.getSetting(SettingsMsg.IDX_STICK_P)+1) |
| # comm.sendSettings(msg.getSettings()) |
| |
| msg.setSetting(SettingsMsg.IDX_STICK_P, msg.getSetting(SettingsMsg.IDX_STICK_P)+1) |
| comm.sendSettings(msg.getSettings()) |
| messages = comm.recordDbgMsg(0.05, 20) |
| for msg in messages: |
| print msg.getAngleRoll() |
| |
| comm.doVibrationTest(100,5) |
| |
| |
| |
| except Exception,e: |
| print |
| print "An error occured: ", e |