canbus.packet
PendantButtons Objects
class PendantButtons(IntEnum)
Bit field for pendant buttons.
PAUSE
Square
BRAKE
Circle
PTO
Triangle
CRUISE
Cross (X)
LEFT
D-pad left
UP
D-pad up
RIGHT
D-pad right
DOWN
D-pad down
AmigaControlState Objects
class AmigaControlState(IntEnum)
State of the Amiga vehicle control unit (VCU)
ActuatorCommands Objects
class ActuatorCommands(IntEnum)
Commands for the linear and rotary actuators.
actuator_bits_cmd
def actuator_bits_cmd(a0=ActuatorCommands.passive,
a1=ActuatorCommands.passive,
a2=ActuatorCommands.passive,
a3=ActuatorCommands.passive)
Returns the command bits for up to four linear or rotary actuators.
actuator_bits_read
def actuator_bits_read(bits)
Parses the command bits for up to four linear or rotary actuators.
Packet Objects
class Packet()
Base class inherited by all CAN message data structures.
from_can_data
@classmethod
def from_can_data(cls, data, stamp: float)
Unpack CAN data directly into CAN message data structure.
stamp_packet
def stamp_packet(stamp: float)
Time most recent message was received.
fresh
def fresh(thresh_s: float = 0.5)
Returns False if the most recent message is older than thresh_s in seconds.
age
def age()
Age of the most recent message.
make_amiga_rpdo1_proto
def make_amiga_rpdo1_proto(
state_req: AmigaControlState = AmigaControlState.STATE_ESTOPPED,
cmd_speed: float = 0.0,
cmd_ang_rate: float = 0.0,
pto_bits: int = 0x0,
hbridge_bits: int = 0x0) -> canbus_pb2.RawCanbusMessage
Creates a canbus_pb2.RawCanbusMessage.
Uses the AmigaRpdo1 structure and formatting, that can be sent directly to the canbus service to be formatted and send on the CAN bus.
WARNING: Deprecated starting with farm-ng-amiga v2.3.0 Please use AmigaRpdo1.to_raw_canbus_message() instead.
Arguments:
state_req- State of the Amiga vehicle control unit (VCU).cmd_speed- Command speed in meters per second.cmd_ang_rate- Command angular rate in radians per second.pto_bits- byte with encoded bits for PTO auto controlhbridge_bits- byte with encoded bits for h-bridge auto control
Returns:
An instance of a canbus_pb2.RawCanbusMessage.
AmigaRpdo1 Objects
class AmigaRpdo1(Packet)
State, speed, and angular rate command (request) sent to the Amiga vehicle control unit (VCU).
New in fw v0.1.9 / farm-ng-amiga v0.0.7: Add pto & hbridge control. Message data is now 8 bytes (was 5).
encode
def encode()
Returns the data contained by the class encoded as CAN message data.
decode
def decode(data)
Decodes CAN message data and populates the values of the class.
to_raw_canbus_message
def to_raw_canbus_message() -> canbus_pb2.RawCanbusMessage
Packs the class data into a canbus_pb2.RawCanbusMessage.
Returns: An instance of a canbus_pb2.RawCanbusMessage.
AmigaTpdo1 Objects
class AmigaTpdo1(Packet)
State, speed, and angular rate of the Amiga vehicle control unit (VCU).
New in fw v0.1.9 / farm-ng-amiga v0.0.7: Add pto & hbridge control. Message data is now 8 bytes (was 5).
encode
def encode()
Returns the data contained by the class encoded as CAN message data.
decode
def decode(data)
Decodes CAN message data and populates the values of the class.
to_proto
def to_proto() -> amiga_v6_pb2.AmigaTpdo1
Packs the class data into an AmigaTpdo1 proto message.
Returns: An instance of an AmigaTpdo1 proto.
from_proto
@classmethod
def from_proto(cls, proto: amiga_v6_pb2.AmigaTpdo1) -> AmigaTpdo1
Creates an instance of the class from a proto message.
Arguments:
proto- The AmigaTpdo1 proto message to parse.
from_raw_canbus_message
@classmethod
def from_raw_canbus_message(
cls, message: canbus_pb2.RawCanbusMessage) -> AmigaTpdo1
Parses a canbus_pb2.RawCanbusMessage.
IFF the message came from the dashboard and contains AmigaTpdo1 structure, formatting, and cobid.
Arguments:
message- The raw canbus message to parse.
Returns:
The parsed AmigaTpdo1 message.
parse_amiga_tpdo1_proto
def parse_amiga_tpdo1_proto(
message: canbus_pb2.RawCanbusMessage) -> AmigaTpdo1 | None
Parses a canbus_pb2.RawCanbusMessage.
IFF the message came from the dashboard and contains AmigaTpdo1 structure, formatting, and cobid.
WARNING: Deprecated starting with farm-ng-amiga v2.3.0 Please use AmigaTpdo1.from_raw_canbus_message() instead.
Arguments:
message- The raw canbus message to parse.
Returns:
The parsed AmigaTpdo1 message, or None if the message is not a valid AmigaTpdo1 message.
MotorControllerStatus Objects
class MotorControllerStatus(IntEnum)
Values representing the status of the motor controller.
PRE_OPERATIONAL
the motor is not ready to run
IDLE
the motor is waiting to start
POST_OPERATIONAL
the motor already started
RUN
the motor is running
FAULT
the motor controller is in fault mode
MotorState Objects
class MotorState()
Values representing the state of the motor.
Amalgamates values from multiple CAN packets.
to_proto
def to_proto() -> canbus_pb2.MotorState
Returns the data contained by the class encoded as CAN message data.
PendantState Objects
class PendantState(Packet)
State of the Pendant (joystick position & pressed buttons)
encode
def encode()
Returns the data contained by the class encoded as CAN message data.
decode
def decode(data)
Decodes CAN message data and populates the values of the class.
to_proto
def to_proto() -> amiga_v6_pb2.PendantState
Packs the class data into a PendantState proto message.
Returns: An instance of a PendantState proto.
from_proto
@classmethod
def from_proto(cls, proto: amiga_v6_pb2.PendantState) -> PendantState
Creates an instance of the class from a proto message.
Arguments:
proto- The PendantState proto message to parse.
from_raw_canbus_message
@classmethod
def from_raw_canbus_message(
cls, message: canbus_pb2.RawCanbusMessage) -> PendantState
Parses a canbus_pb2.RawCanbusMessage.
IFF the message came from the pendant and contains PendantState structure, formatting, and cobid.
Arguments:
message- The raw canbus message to parse.
Returns:
The parsed PendantState message.
is_button_pressed
def is_button_pressed(button: PendantButtons) -> bool
Returns True if the button is pressed.