ckbot :: pololu :: Protocol :: Class Protocol

Class Protocol

This is a concrete class that provides all the functionality needed to send messages to a pololu controller over a "pololu bus". This protocol follows the specifications provided by the Pololu Maestro Documentation found at: http://www.pololu.com/docs/0J40/all

For use with the Pololu Maestro 12pin, Firmware Version1.1

It is meant to mimic the can.Protocol class, except for the pololu device rather than a CAN network

This converts CKBot Module-specific commands into Pololu equivalents, and maintains the state of the Pololu device and its handles to modules via fake heartbeats u WARNING: Current version has only been tested with the 12-pin Pololu Maestro Firmwarev1.1 and does NOT support Pololu-styled commands (supports only MiniSSC2 and Compact), support for Pololu-styled commands will be included in a future release perhaps

Instance Methods

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__init__(self, bus=None, nodes=None, *args, **kw)
Initialize a pololu.Protocol

source code

pololu_setup(self)
Initialize the Pololu Maestro device to receive commands using Pololu Mode

source code

send_cmd(self, cmd_type, nid, cmd)
Sends command to the Pololu Maestro via the Bus.

source code

hintNodes(self, nodes)
Specify which nodes to expect on the bus

source code

update(self)
Updates the pololu.Protocol state that mimics the behaviour of can.Protocol.

source code

generatePNA(self, nid)
Generates a pololu.ProtocolNodeAdaptor, associating a pololu protocol with a specific node id and returns it

source code

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Class Variables

[hide private]

POLOLU_BYTE = 0xAA

Properties

[hide private]

Inherited from object: __class__

Method Details

[hide private]

init(self, bus=None, nodes=None, *args, **kw)
(Constructor)

source code

Initialize a pololu.Protocol

INPUT: bus -- pololu.Bus -- Serial bus used to communicate with Pololu Device nodes -- dictionary -- key:module node_id, value:pololu controller number

ATTRIBUTES: heartbeats -- dictionary -- key:nid, value:(timestamp) msgs -- dictionary -- a fake representation of a dictionary message, used so the pololu.Protocol can "dock" onto existing Cluster interfaces (provides the Module version) pna -- dictionary -- table of NodeID to ProtocolNodeAdaptor mappings

FUTURE: buses -- may be a list of buses (Protocol can communicate with multiple buses by changing servonums)

Overrides: object.__init__

send_cmd(self, cmd_type, nid, cmd)

source code

Sends command to the Pololu Maestro via the Bus.

INPUTS: nid -- int -- Node ID to send the command to cmd -- tuple of ints -- tuple of integer command values to send cmd_type -- int -- Type of command (MiniSSC2, Pololu, and Compact types are supported)

hintNodes(self, nodes)

source code

Specify which nodes to expect on the bus

Overrides: ckmodule.AbstractProtocol.hintNodes

update(self)

source code

Updates the pololu.Protocol state that mimics the behaviour of can.Protocol. It updates timestamps of heartbeats heard on the bus.

Overrides: ckmodule.AbstractProtocol.update

generatePNA(self, nid)

source code

Generates a pololu.ProtocolNodeAdaptor, associating a pololu protocol with a specific node id and returns it

Overrides: ckmodule.AbstractProtocol.generatePNA

Class Protocol

__init__(self, bus=None, nodes=None, *args, **kw) (Constructor)

send_cmd(self, cmd_type, nid, cmd)

hintNodes(self, nodes)

update(self)

generatePNA(self, nid)

init(self, bus=None, nodes=None, *args, **kw)
(Constructor)