38 lines
1.1 KiB
Python
38 lines
1.1 KiB
Python
"""Utility functions and constants."""
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from .common import (
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gen_crc, float_to_hex, hex_to_float,
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tau_to_hex, hex_to_tau,
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kp_to_hex, hex_to_kp,
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kd_to_hex, hex_to_kd,
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decode_sn, decode_version,
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)
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from .constants import (
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MCU_IP, MCU_PORT, HIGHLEVEL, LOWLEVEL, TRIGERLEVEL, PosStopF, VelStopF,
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FR_, FL_, RR_, RL_,
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FR_0, FR_1, FR_2, FL_0, FL_1, FL_2,
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RR_0, RR_1, RR_2, RL_0, RL_1, RL_2,
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JOINT_NAMES, JOINT_TYPE, JOINT_ATTR,
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JOINT_LIMITS, JOINT_LIMITS_MEASURED,
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TAU_MAX, KT, CRITICAL_FACTOR,
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DAMPING_POSE,
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)
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__all__ = [
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# common
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'gen_crc', 'float_to_hex', 'hex_to_float',
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'tau_to_hex', 'hex_to_tau',
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'kp_to_hex', 'hex_to_kp',
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'kd_to_hex', 'hex_to_kd',
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'decode_sn', 'decode_version',
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# constants
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'MCU_IP', 'MCU_PORT',
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'HIGHLEVEL', 'LOWLEVEL', 'TRIGERLEVEL', 'PosStopF', 'VelStopF',
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'FR_', 'FL_', 'RR_', 'RL_',
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'FR_0', 'FR_1', 'FR_2', 'FL_0', 'FL_1', 'FL_2',
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'RR_0', 'RR_1', 'RR_2', 'RL_0', 'RL_1', 'RL_2',
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'JOINT_NAMES', 'JOINT_TYPE', 'JOINT_ATTR',
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'JOINT_LIMITS', 'JOINT_LIMITS_MEASURED',
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'TAU_MAX', 'KT', 'CRITICAL_FACTOR',
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'DAMPING_POSE',
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]
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