def main():
hb = heartbeatlib.OnboardHeartbeater(connection_state_changed, 0)
# look LCMSubscription.queue_capacity if messages are discarded
lcm_.subscribe("/drive_control", drive_control_callback)
lcm_.subscribe("/autonomous", autonomous_callback)
lcm_.subscribe('/motor', motor_callback)
lcm_.subscribe('/arm_control', arm_control_callback)
lcm_.subscribe('/sa_control', sa_control_callback)
lcm_.subscribe('/encoder', encoder_callback)
lcm_.subscribe('/arm_demand', enc_out_callback)
# lcm_.subscribe('/arm_demand', transmit_fake_encoders)
new_encoder = Encoder()
new_encoder.joint_a = 0
new_encoder.joint_b = 0
new_encoder.joint_c = 0
new_encoder.joint_d = 0
new_encoder.joint_e = 0
new_encoder.joint_f = 0
lcm_.publish('/encoder', new_encoder.encode())
run_coroutines(hb.loop(),
transmit_fake_odometry(), transmit_fake_sensors(),
lcm_.loop(), transmit_temperature(),
transmit_drive_status())
def main():
hb = heartbeatlib.OnboardHeartbeater(connection_state_changed, 0)
# look LCMSubscription.queue_capacity if messages are discarded
lcm_.subscribe("/drive_control", drive_control_callback)
lcm_.subscribe("/autonomous", autonomous_callback)
lcm_.subscribe('/arm_control', arm_control_callback)
lcm_.subscribe('/sa_control', sa_control_callback)
run_coroutines(hb.loop(), lcm_.loop(), transmit_temperature(),
transmit_drive_status())
def main():
hb = heartbeatlib.OnboardHeartbeater(connection_state_changed, 0)
# look LCMSubscription.queue_capacity if messages are discarded
lcm_.subscribe("/joystick", joystick_callback)
lcm_.subscribe("/autonomous", autonomous_callback)
lcm_.subscribe('/motor', motor_callback)
new_kill_msg = Kill_switches()
new_kill_msg.killed = False
lcm_.publish('/kill_switch', new_kill_msg.encode())
run_coroutines(hb.loop(), transmit_fake_odometry(),
transmit_fake_sensors(), lcm_.loop())
def main():
global index
index = int(sys.argv[1])
hb = heartbeatlib.OnboardHeartbeater(connection_state_changed, index)
Gst.init(None)
read_settings()
write_settings()
lcm_.subscribe("/pi_camera", camera_callback)
lcm_.subscribe("/pi_settings", settings_callback)
lcm_.subscribe("/pi_picture", picture_callback)
run_coroutines(lcm_.loop(), hb.loop(), connection_monitor())
def main():
hb = heartbeatlib.OnboardHeartbeater(connection_state_changed)
run_coroutines(hb.loop(), transmit_fake_odometry())
def main():
hb = heartbeatlib.OnboardHeartbeater(connection_state_changed, sys.argv[1])
run_coroutines(hb.loop())
