#!/usr/bin/env python
import rospy
from sensor_msgs.msg import Joy
from pcl_msgs.msg import Vertices
drill = Vertices()
drill.vertices = [0, 0, 0, 0, 0, 0, 0]
drill_x=0 #up-down movement
drill_y=0 #drill on off
drill_z=0#container rotation
drill_xpwm=255
drill_ypwm=255
drill_zpwm=255
drill_zangle=90
def find_drill_movements(data):
global drill_x
global drill_y
global drill_z
global drill_xpwm
global drill_ypwm
global drill_zpwm
global drill_zangle
#for drill up-down movement
x = data.axes[0]
if(x==0):
drill_x =0
if(x==1):
drill_x=1
if(x==-1):
drill_x=2
#!/usr/bin/env python
import rospy
from sensor_msgs.msg import Joy
from pcl_msgs.msg import Vertices
from numpy import interp
arm = Vertices()
arm.vertices = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
actuator_x = 0
actuator_y = 0
base = 0
wrist = 0
gripper_rotation = 0
gripper_jaw = 0
def move_base(data):
global base
base = 0
base_pwm = 0
'''bl= data.buttons[4]
br=data.buttons[5]
if((br == 0 and bl == 0) or (br==1 and bl ==1)) :
base = 0
if(br == 1 and bl == 0) :
base = 1
if(br == 0 and bl == 1) :
base = 2'''
if (data.buttons[4] == 1):
base_axis = data.axes[3]
#!/usr/bin/env python
import rospy
from pcl_msgs.msg import Vertices
import time
import getch
import getkey as gk
pantilt = Vertices()
pan = 0
tilt = 0
antena = 0
pantilt.vertices = [0, 0, 0]
def talker():
global pan
global tilt
global antena
pub = rospy.Publisher('servo_pantilt', Vertices, queue_size=10)
rospy.init_node('pan_tilt', anonymous=True)
rate = rospy.Rate(3) # 3hz3
while (True):
key = gk.getkey()
if (key == gk.keys.UP):
while (key == gk.keys.UP):
pan = pan + 1
if (pan > 180):
pan = 180
if (pan < 0):
pan = 0
pantilt.vertices[0] = pan
pub.publish(pantilt)