def apply_command(force):
global message_received
message_received = True
#print 'speed: ',str(int(force*200/max_force)),' motor driver: ',thruster_id
if (force > 0):
thrust = map_thruster_curve("forward",force)
print "forward force = ",force,"forward thrust = ",thrust
motordriver.set_forward_speed(thrust)
# motordriver.set_forward_speed(str(int(force*200/max_force)))
elif (force < 0):
thrust = map_thruster_curve("reverse",-force)
print "reverse force = ",force,"reverse thrust = ",thrust
motordriver.set_reverse_speed(thrust)
# motordriver.set_reverse_speed(str(int(-force*200/min_force)))
else:
motordriver.stop()
motordriverstat_msg = motor_driver_statistics(
header=Header(
stamp=rospy.Time.now(),
frame_id="/base_link",
),
id=thruster_id,
current = "0",#motordriver.get_current(),
out_voltage = "0",#motordriver.get_out_voltage(),
batt_voltage = "0",#motordriver.get_batt_voltage(),
)
def apply_command(force):
global message_received
message_received = True
#print 'speed: ',str(int(force*200/max_force)),' motor driver: ',thruster_id
output = interpolate.sample_curve((force_list, output_list), force)
if output > 0:
motordriver.set_forward_speed(output)
elif output < 0:
motordriver.set_reverse_speed(-output)
else:
motordriver.stop()
motordriverstat_msg = motor_driver_statistics(
header=Header(
stamp=rospy.Time.now(),
frame_id="/base_link",
),
id=thruster_id,
current = "0",#motordriver.get_current(),
out_voltage = "0",#motordriver.get_out_voltage(),
batt_voltage = "0",#motordriver.get_batt_voltage(),
)
def apply_command(force):
global message_received
message_received = True
#print 'speed: ',str(int(force*200/max_force)),' motor driver: ',thruster_id
output = interpolate.sample_curve((force_list, output_list), force)
if output > 0:
motordriver.set_forward_speed(output)
elif output < 0:
motordriver.set_reverse_speed(-output)
else:
motordriver.stop()
motordriverstat_msg = motor_driver_statistics(
header=Header(
stamp=rospy.Time.now(),
frame_id="/base_link",
),
id=thruster_id,
current="0", #motordriver.get_current(),
out_voltage="0", #motordriver.get_out_voltage(),
batt_voltage="0", #motordriver.get_batt_voltage(),
)
def apply_command(thruster_id, force): motordriver = motordrivers[thruster_id] global message_received message_received = True if (force > 0): motordriver.set_forward_speed(str(int(force*200/max_force))) elif (force < 0): motordriver.set_reverse_speed(str(int(-force*200/min_force))) else: motordriver.stop() motordriverstat_msg = motor_driver_statistics( header=Header( stamp=rospy.Time.now(), frame_id="/base_link", ), id=thruster_id, current = "0",#motordriver.get_current(), out_voltage = "0",#motordriver.get_out_voltage(), batt_voltage = "0",#motordriver.get_batt_voltage(), ) motor_driver_statistics_publisher.publish(motordriverstat_msg)
