def looper():
rospy.init_node('commander', anonymous=True)
pub = rospy.Publisher("arduino_move", arduino_msg, queue_size=10)
sub = rospy.Subscriber("commander",String, callback)
motor_disable_service = rospy.Service("motor_disable", MotorDisable, disable_motor)
rate = rospy.Rate(1)
publish = arduino_msg()
global new_message
global message
current_time = time.time()
while not rospy.is_shutdown():
#print(message + " " + new_message)
#If the message has changed,
#update the message passed to the arduino
if(new_message != message):
current_time = time.time()
message = new_message
command = message.split()
if(command[0] == "movt"):
publish = createMsg(command[1],command[1],
command[2],command[2],
command[3],command[3])
elif(command[0] == "rott"):
publish = createMsg(int(command[1]),180-int(command[1]),
int(command[2]),180-int(command[2]),
int(command[3]),180-int(command[3]))
elif ( command[0] == "stop" or command[0] == "pause"):
publish = createMsg(0,0,0,0,0,0)
#Publish 'Next' command To advance the queue
#If the time is passed the duration
split_message = message.split()
if(time.time()-current_time >= float(split_message[4])):
if(split_message[0] == "movt" or
split_message[0] == "rott" or
split_message[0] == "pause"):
talker("next",0,0,0,0)
#Publish the command to the motors
pub.publish(publish)
rate.sleep()
def createMsg(xLeft,xRight,yFront,yBack,zTop,zBottom):
global motor_disabled_dict
msg = arduino_msg()
no_value = 90
if(not motor_disabled_dict["xLeft"]):
msg.xLeft = int(xLeft)
else:
msg.xLeft = no_value
if(not motor_disabled_dict["xRight"]):
msg.xRight = int(xRight)
else:
msg.xRight = no_value
if(not motor_disabled_dict["yFront"]):
msg.yFront = int(yFront)
else:
msg.yFront = no_value
if(not motor_disabled_dict["yBack"]):
msg.yBack = int(yBack)
else:
msg.yBack = no_value
if(not motor_disabled_dict["zTop"]):
msg.zTop = int(zTop)
else:
msg.zTop = no_value
if(not motor_disabled_dict["zBottom"]):
msg.zBottom = int(zBottom)
else:
msg.zBottom = no_value
return msg
