00001 from BAL.Header.RiCHeader import RiCHeader 00002 import struct 00003 00004 DiffDriverCL = 0 00005 Button = 1 00006 GPS = 2 00007 IMU = 3 00008 IR = 4 00009 EngineOL = 5 00010 EngineCL = 6 00011 PPM = 7 00012 Rely = 8 00013 SERVO = 9 00014 URF_HRLV = 10 00015 URF_LV = 11 00016 EngineCL2 = 12 00017 Battery = 13 00018 CloseDiffFour = 14 00019 DiffDriverOL = 15 00020 EmergencySwitch = 16 00021 00022 00023 class ParamBuildResponse(RiCHeader): 00024 def __init__(self, type, devId, pubHz): 00025 RiCHeader.__init__(self) 00026 self._id = 103 00027 self._des = 0x1001 00028 self._type = type 00029 self._devId = devId 00030 self._pubHz = pubHz 00031 00032 def dataTosend(self): 00033 return RiCHeader.dataTosend(self) \ 00034 + struct.pack('<h', self._type)\ 00035 + struct.pack('<h', self._devId) \ 00036 + struct.pack('<I', self._pubHz) 00037 00038