Go to the documentation of this file.00001 __author__ = 'tom1231'
00002 import struct
00003 from BAL.Header.Response.ParamBuildResponse import ParamBuildResponse, DiffDriverCL
00004
00005 MSG_LEN = 34
00006
00007 class CloseDiffParamResponse(ParamBuildResponse):
00008
00009 def __init__(self, devId, param):
00010 ParamBuildResponse.__init__(self, DiffDriverCL, devId, param.getCloseDiffPubHz())
00011 self._length = MSG_LEN
00012 self._checkSum = 0
00013 self._rWheel = param.getCloseDiffRWheel()
00014 self._width = param.getCloseDiffWidth()
00015 self._motorL = param.getCloseDiffMotorL()
00016 self._motorR = param.getCloseDiffMotorR()
00017 self._slip = param.getCloseDiffSlip()
00018 self._checkSum = self.calCheckSum(self.dataTosend())
00019
00020 def dataTosend(self):
00021 return ParamBuildResponse.dataTosend(self) \
00022 + struct.pack('<f', self._rWheel) \
00023 + struct.pack('<f', self._width) \
00024 + struct.pack('<i', self._motorL) \
00025 + struct.pack('<i', self._motorR) \
00026 + struct.pack('<f', self._slip)