def __init__( self ):
brickpibot.set_speed(0)
brickpibot.fwd()
self.lastServoSettingsSendTime = 0.0
self.lastUpdateTime = 0.0
self.lastMotionCommandTime = time.time()
def setMotorJoystickPos( self, joystickX, joystickY ):
joystickX, joystickY = self.normaliseJoystickData( joystickX, joystickY )
if debug:
print "Left joy",joystickX, joystickY
print self.speed_l*joystickY
brickpibot.set_left_speed(int(self.speed_l*joystickY))
brickpibot.fwd()
def setNeckJoystickPos( self, joystickX, joystickY ):
#print "g"
joystickX, joystickY = self.normaliseJoystickData( joystickX, joystickY )
if debug:
print "Right joy",joystickX, joystickY
print self.speed_r*joystickY
brickpibot.set_right_speed(int(self.speed_r*joystickY))
brickpibot.fwd()
self.lastMotionCommandTime = time.time()