vacuum.py 文件源码

def manual_control(self, rotation: int, velocity: float,
                       duration: int=1500):
        """Give a command over manual control interface."""
        if rotation < -180 or rotation > 180:
            raise DeviceException("Given rotation is invalid, should "
                                  "be ]-180, 180[, was %s" % rotation)
        if velocity < -0.3 or velocity > 0.3:
            raise DeviceException("Given velocity is invalid, should "
                                  "be ]-0.3, 0.3[, was: %s" % velocity)

        self.manual_seqnum += 1
        params = {"omega": round(math.radians(rotation), 1),
                  "velocity": velocity,
                  "duration": duration,
                  "seqnum": self.manual_seqnum}

        self.send("app_rc_move", [params])