Version 1 failing on $ENVAL?* and $ENRAW?*

[martykube]

The quickbot client on the robot fails when these commands are issued:

debian@beaglebone:~/quickbot_bbb$ sudo ./run.py --rtype quick_v1
Running XBot
Running XBot Program
    Base IP:  192.168.7.1
    Robot IP:  192.168.7.2
    Robot Type:  quick_v1
$ENVAL?*
Shutting down...Done
Exception in thread Thread-1 (most likely raised during interpreter shutdown):
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 552, in __bootstrap_inner
  File "/usr/lib/python2.7/threading.py", line 505, in run
  File "/home/debian/quickbot_bbb/xbots/base.py", line 313, in parse_cmd
<type 'exceptions.AttributeError'>: 'QuickBot' object has no attribute 'get_enc_val'

debian@beaglebone:~/quickbot_bbb$ sudo ./run.py --rtype quick_v1
Running XBot
Running XBot Program
    Base IP:  192.168.7.1
    Robot IP:  192.168.7.2
    Robot Type:  quick_v1
$ENRAW?*
Shutting down...Done
Exception in thread Thread-1 (most likely raised during interpreter shutdown):
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 552, in __bootstrap_inner
  File "/usr/lib/python2.7/threading.py", line 505, in run
  File "/home/debian/quickbot_bbb/xbots/base.py", line 332, in parse_cmd
<type 'exceptions.AttributeError'>: 'QuickBot' object has no attribute 'get_enc_raw'
debian@beaglebone:~/quickbot_bbb$

The root cause is base.by calling get_enc_raw() or get_enc_val() which are defined in quickbot_v2.py but not quickbot_v1.py.

What is the best why to fix this? The encoder model seems way different between v1 and v2 so it was not obvious how to just add get_enc_raw() or get_env_valu() to the v1 code base. Maybe it's easier to back port the v2 encoder model to v1?

@rowoflo I'm willing to make the changes to fix this issue. I am looking for some advice on the best way to proceed.