def deploy_hydrophone(self):
#INITIALLY WHEN THE BOAT STARTS THE CABLE SHOULD BE FEED OVER THE TOP OF THE SERVO
deploy_msg = DynamixelFullConfig()
deploy_msg.id = 4 #id 4 is the stern servo for the hydrophones
deploy_msg.led = 0
deploy_msg.goal_position = -2 * math.pi
deploy_msg.moving_speed = 1.4 # 1.4 rad/s~22 rpm
deploy_msg.torque_limit = 173 # 173/1023 is about 17% torque
deploy_msg.goal_acceleration = 20
deploy_msg.control_mode = DynamixelFullConfig.CONTINUOUS_ANGLE
deploy_msg.goal_velocity = 1.4
for i in xrange(100):
self.servo_full_config_pub.publish(deploy_msg)
yield util.sleep(8.5 / 100)
def deploy_hydrophone(self):
#INITIALLY WHEN THE BOAT STARTS THE CABLE SHOULD BE FEED OVER THE TOP OF THE SERVO
deploy_msg=DynamixelFullConfig()
deploy_msg.id=4 #id 4 is the stern servo for the hydrophones
deploy_msg.led=0
deploy_msg.goal_position=-2*math.pi
deploy_msg.moving_speed=1.4 # 1.4 rad/s~22 rpm
deploy_msg.torque_limit=173 # 173/1023 is about 17% torque
deploy_msg.goal_acceleration=20
deploy_msg.control_mode=DynamixelFullConfig.CONTINUOUS_ANGLE
deploy_msg.goal_velocity=1.4
for i in xrange(100):
self.servo_full_config_pub.publish(deploy_msg)
yield util.sleep(8.5/100)
def retract_hydrophone(self):
#WHEN THE HYDROPHONES RETRACT CABLE SHOULD FEED BACK OVER THE TOP OF THE SERVO
deploy_msg = DynamixelFullConfig()
deploy_msg.id = 4 #id 4 is the stern servo for the hydrophones
deploy_msg.led = 0
deploy_msg.goal_position = 4.3 # 2.4 rad/s~22 rpm NOTE: we explicitly retract to pi to try and avoid being at the 0/2*PI boundary on a powerup
deploy_msg.moving_speed = 1.4 # 1.4 rad/s~22 rpm
deploy_msg.torque_limit = 143 # 143/1023 is about 14% torque (so we don't break the rope if someone didn't feed them correctly to start)
deploy_msg.goal_acceleration = 20
deploy_msg.control_mode = DynamixelFullConfig.CONTINUOUS_ANGLE
deploy_msg.goal_velocity = 1.4
self.servo_full_config_pub.publish(deploy_msg)
for i in xrange(100):
self.servo_full_config_pub.publish(deploy_msg)
yield util.sleep(20 / 100)
def retract_hydrophone(self):
#WHEN THE HYDROPHONES RETRACT CABLE SHOULD FEED BACK OVER THE TOP OF THE SERVO
deploy_msg=DynamixelFullConfig()
deploy_msg.id=4 #id 4 is the stern servo for the hydrophones
deploy_msg.led=0
deploy_msg.goal_position=4.3 # 2.4 rad/s~22 rpm NOTE: we explicitly retract to pi to try and avoid being at the 0/2*PI boundary on a powerup
deploy_msg.moving_speed=1.4 # 1.4 rad/s~22 rpm
deploy_msg.torque_limit=143 # 143/1023 is about 14% torque (so we don't break the rope if someone didn't feed them correctly to start)
deploy_msg.goal_acceleration=20
deploy_msg.control_mode=DynamixelFullConfig.CONTINUOUS_ANGLE
deploy_msg.goal_velocity=1.4
self.servo_full_config_pub.publish(deploy_msg)
for i in xrange(100):
self.servo_full_config_pub.publish(deploy_msg)
yield util.sleep(20/100)
