- parse responses

components/actor/Pololu1376.py

@@ -14,38 +14,58 @@ class Pololu1376:
 
 		print("F/W-Version: ", self.get_firmware_version())
 
-	def cmd_send(self, cmd):
+	def send(self, data):
-		self.ser.write((cmd + '\r\n').encode())
+		self.ser.write((data + '\r\n').encode())
 
-	def cmd_recv(self):
+	def recv(self):
 		data = self.ser.readline().decode("utf-8").replace("\n", '').replace("\r", '')
 		return data
 
+	def cmd(self, cmd):
+		self.send(cmd)
+		rsp = self.recv()
+
+		success = False
+		if "." in rsp[0]:
+			print("The last command was understood and no errors are stopping the motor.")
+			success = True
+		elif "!" in rsp[0]:
+			print("The last command was understood and errors are stopping the motor.")
+			success = True
+		elif "?" in rsp[0]:
+			print("The last command was not understood (a Serial Format Error has occurred).")
+			success = False
+		elif rsp is None:
+			print("Timeout.")
+			success = False
+
+		return rsp[1:]
+
 	def go(self):
-		self.cmd_send("GO")
+		self.cmd("GO")
 
 	def motor_forward(self):
-		self.cmd_send("F")
+		self.cmd("F")
 
 	def motor_reverse(self):
-		self.cmd_send("R")
+		self.cmd("R")
 
 	def motor_brake(self):
-		self.cmd_send("B")
+		self.cmd("B")
 
 	def motor_stop(self):
-		self.cmd_send("X")
+		self.cmd("X")
 
 	def motor_set_limit(self, value):
-		self.cmd_send("L" + str(value))
+		self.cmd("L" + str(value))
 
 	def get_firmware_version(self):
-		self.cmd_send("V")
+		self.cmd("V")
-		return self.cmd_recv()
+		return self.recv()
 
 	def get_variable(self, var):
-		self.cmd_send("L" + str(var))
+		self.cmd("L" + str(var))
-		return self.cmd_recv()
+		return self.recv()
 
 
 if __name__ == '__main__':