Updates the data index for the given motor ID.
(self, index: int, motor_id: int)
| 442 | self._cur_data = np.zeros(len(self.motor_ids), dtype=np.float32) |
| 443 | |
| 444 | def _update_data(self, index: int, motor_id: int): |
| 445 | """Updates the data index for the given motor ID.""" |
| 446 | cur = self.operation.getData(motor_id, ADDR_PRESENT_CURRENT, |
| 447 | LEN_PRESENT_CURRENT) |
| 448 | vel = self.operation.getData(motor_id, ADDR_PRESENT_VELOCITY, |
| 449 | LEN_PRESENT_VELOCITY) |
| 450 | pos = self.operation.getData(motor_id, ADDR_PRESENT_POSITION, |
| 451 | LEN_PRESENT_POSITION) |
| 452 | cur = unsigned_to_signed(cur, size=2) |
| 453 | vel = unsigned_to_signed(vel, size=4) |
| 454 | pos = unsigned_to_signed(pos, size=4) |
| 455 | self._pos_data[index] = float(pos) * self.pos_scale |
| 456 | self._vel_data[index] = float(vel) * self.vel_scale |
| 457 | self._cur_data[index] = float(cur) * self.cur_scale |
| 458 | |
| 459 | def _get_data(self): |
| 460 | """Returns a copy of the data.""" |
nothing calls this directly
no test coverage detected