def test_put_freq(self):
pub = rospy.Publisher('/motor_raw', MotorFreqs)
m = MotorFreqs()
m.left_hz = 123
m.right_hz = 456
for i in range(10):
pub.publish(m)
time.sleep(0.1)
self.file_check("rtmotor_raw_l0",m.left_hz,"wrong left value from motor_raw")
self.file_check("rtmotor_raw_r0",m.right_hz,"wrong right value from motor_raw")
def test_put_freq(self):
pub = rospy.Publisher('/motor_raw', MotorFreqs)
m = MotorFreqs()
m.left_hz = 123
m.right_hz = 456
for i in range(10):
pub.publish(m)
time.sleep(0.1)
self.file_check("rtmotor_raw_l0",m.left_hz,"wrong left value from motor_raw")
self.file_check("rtmotor_raw_r0",m.right_hz,"wrong left value from motor_raw")
def joy_callback(self, joy_msg):
self.level = self.limitter(self.level)
m = MotorFreqs()
if joy_msg.buttons[0] == 1:
m.left_hz = self.accel[self.level]
m.right_hz = self.accel[self.level]
self.motor_pub.publish(m)
else:
self.level = 0
m.left_hz = 0
m.right_hz = 0
self.motor_pub.publish(m)
return
time.sleep(self.durat[self.level])
self.level += 1