Go to the documentation of this file.00001 __author__ = 'tom1231'
00002 import struct
00003 from BAL.Header.RiCHeader import RiCHeader
00004
00005 REQ_ID = 8
00006 REQ_LEN = 14
00007
00008
00009 class CloseDiffRequest(RiCHeader):
00010 def __init__(self, angular, linear):
00011 RiCHeader.__init__(self)
00012 self._id = REQ_ID
00013 self._length = REQ_LEN
00014 self._des = 0x1001
00015 self._checkSum = 0
00016 self._angular = angular
00017 self._linear = linear
00018 self._checkSum = self.calCheckSum(self.dataTosend())
00019
00020 def dataTosend(self):
00021 return RiCHeader.dataTosend(self)\
00022 + struct.pack('<f', self._angular) \
00023 + struct.pack('<f', self._linear)
00024
00025