(self, can_messenger: CanMessenger)
Send commands to set up the message groups.
Send commands to set up the message groups.
Send commands to set up the message groups .
async def _send_groups(self, can_messenger: CanMessenger) -> None:
        """Send commands to set up the message groups."""
        for group_i, group in enumerate(self._move_groups):
            for seq_i, sequence in enumerate(group):
                for node, step in sequence.items():
                    await can_messenger.send(
                        node_id=node,
                        message=AddLinearMoveRequest(
                            payload=AddLinearMoveRequestPayload(
                                group_id=UInt8Field(group_i),
                                seq_id=UInt8Field(seq_i),
                                duration=UInt32Field(
                                    int(step.duration_sec * interrupts_per_sec)
                                ),
                                acceleration=Int32Field(0),
                                velocity=Int32Field(
                                    int(interrupts_per_sec * step.velocity_mm_sec)
                                ),
                            )
                        ),
                    )
async def _send_groups ( self , can_messenger : CanMessenger ) -> None : for group_i , group in enumerate ( self . _move_groups ) : for seq_i , sequence in enumerate ( group ) : for node , step in sequence . items ( ) : await can_messenger . send ( node_id = node , message = AddLinearMoveRequest ( payload = AddLinearMoveRequestPayload ( group_id = UInt8Field ( group_i ) , seq_id = UInt8Field ( seq_i ) , duration = UInt32Field ( int ( step . duration_sec * interrupts_per_sec ) ) , acceleration = Int32Field ( 0 ) , velocity = Int32Field ( int ( interrupts_per_sec * step . velocity_mm_sec ) ) , ) ) , )