Go to the documentation of this file.00001 __author__ = 'tom1231'
00002 import struct
00003 from BAL.Header.RiCHeader import RiCHeader
00004 from BAL.Handlers.incomingHandler import OPEN_LOOP_REQ
00005
00006 MSG_LEN = 11
00007
00008 class OpenLoopMotorRequest(RiCHeader):
00009 def __init__(self, motorNum, speed):
00010 RiCHeader.__init__(self)
00011 self._id = OPEN_LOOP_REQ
00012 self._length = MSG_LEN
00013 self._des = 0x1001
00014 self._checkSum = 0
00015 self._motorNum = motorNum
00016 self._speed = speed
00017
00018 self._checkSum = self.calCheckSum(self.dataTosend())
00019
00020 def dataTosend(self):
00021 return RiCHeader.dataTosend(self) \
00022 + struct.pack('<B', self._motorNum) \
00023 + struct.pack('<f', self._speed)
00024